Minimal pose goal

stretch_navigation/nodes/move_base_pose.py

@@ -1,8 +1,37 @@
+#!/usr/bin/env python3
+
+import rospy
 import move_base
-from move_base_msgs.msg import MoveBaseActionGoal
-from move_base_msgs.msg import MoveBaseActionFeedback
-from move_base_msgs.msg import MoveBaseActionResult
+import 
actionlib
+
+from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
 from geometry_msgs.msg import PoseStamped
 
 
+def movebase_client():
+
+    client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
+    client.wait_for_server()
+
+    goal = MoveBaseGoal()
+    goal.target_pose.header.frame_id = "map"
+    goal.target_pose.header.stamp = rospy.Time.now()
+    goal.target_pose.pose.position.x = 0.5
+    goal.target_pose.pose.orientation.w = 1.0
+
+    client.send_goal(goal)
+    wait = client.wait_for_result()
+    if not wait:
+        rospy.logerr("Action server not available!")
+        rospy.signal_shutdown("Action server not available!")
+    else:
+        return client.get_result()
 
+if __name__ == '__main__':
+    try:
+        rospy.init_node('move_base_pose')
+        result = movebase_client()
+        if result:
+            rospy.loginfo("Goal execution done!")
+    except rospy.ROSInterruptException:
+        rospy.loginfo("Navigation test finished.")