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For a simpler (hackier) solution than rosh
, you could actually use
> rostopic pub [action_ns]/goal [action_type]ActionGoal [fill in fields here]
This will send a goal message directly to the action server. The action server has been designed to handle goals from "dumb action clients", such as rostopic pub
. You don't even have to bother filling in the header goal_id fields in the message.