ROS: Sends a target location, the robot automatically plans the route, moves to that position.

Use the Action:move_base_msgs::movebaseaction (Move_base in world's goal)

New Send_goal.cpp

/* * send_goal.cpp * * Created On:aug, * author:unicorn * * * #include <ros/ros.h> #include <m ove_base_msgs/movebaseaction.h> #include <actionlib/client/simple_action_client.h>/*move_base_msgs::  Movebaseaction Move_base's goal in world * * typedef actionlib::simpleactionclient<move_base_msgs::movebaseaction>
Movebaseclient;

int main (int argc, char** argv) {ros::init (argc, argv, "Send_goals_node"); /*//Create the Action client//True causes the client to spin its own thread//don ' t need Ros::spin () creating action clients, Parameters 1:a
The ction name, parameter 2:true, does not require a manual call to Ros::spin () and is automatically invoked in its thread.
*/movebaseclient AC ("Move_base", true);
Wait seconds for the action server to become available ros_info ("Waiting for the Move_base Action Server");
Ac.waitforserver (Ros::D uration (60));
Ros_info ("Connected to move base server");
Send a goal to Move_base//target property settings Move_base_msgs::movebasegoal goal;
goal.target_pose.header.frame_id = "Map"; Goal.target_pose.header.stamp = Ros::tIme::now ();
goal.target_pose.pose.position.x = 21.174;
GOAL.TARGET_POSE.POSE.POSITION.Y = 10.876;
GOAL.TARGET_POSE.POSE.ORIENTATION.W = 1;
Ros_info ("");
Ros_info ("sending goal");
Ac.sendgoal (goal);
Wait for the action to return Ac.waitforresult ();
if (ac.getstate () = = actionlib::simpleclientgoalstate::succeeded) ros_info ("You have reached the goal!");
Else Ros_info ("The base failed for some reason");
return 0; }

CMakeList.txt

Add_executable (send_goal src/send_goal.cpp)
target_link_libraries (send_goal
   ${catkin_libraries}
 )

New launch File Goal_launch.launch

<launch>
  <master auto= "Start"/>
  <param name= "/use_sim_time" value= "true"/>
  < Include file= "$ (find navigation_stage)/move_base_config/move_base.xml"/>

  <node pkg= "Stage_ros" type= " Stageros "Name=" Stageros "args=" $ (find navigation_stage)/stage_config/worlds/willow-pr2-2.5cm.world "respawn=" False ">
    <param name=" base_watchdog_timeout "value=" 0.2 "/>
  </node>
  <include file=" $ ( Find navigation_stage)/move_base_config/amcl_node.xml "/>  
  <node name=" Rviz "pkg=" Rviz "type=" Rviz "args=" -D $ (Find navigation_stage)/single_robot.rviz "/>
  <node name=" Send_goal "pkg=" Navigation_example "type=" Send_goal "output=" screen "/>
</launch>

Nodes in the launch

<node name= "Map_server" pkg= "Map_server" type= "Map_server" args= "$ (find navigation_stage)/stage_config/maps/" Respawn= "false"/>

Using WILLOW-FULL-0.025.PGM 0.025, note to replace your own file directory, mine is in the navigation_stage/stage_config/maps/file.
Other nodes are similar.

Run launch.

Results: