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The navigation stack operates using actionlib. Thus, to communicate with move_base, you must use actionlib's ActionClient to send commands and receive feedback. For simplicity, you can use the following code:
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> NavClient;
class MyClass
{
private:
NavClient nav_client_;
...
}
MyClass::MyClass() : nav_client_("move_base", true)
{
...
}
MyClass::cancelNavigation()
{
nav_client_.cancelAllGoals();
}
For more advanced actionlib usage, you can find complete documentation on actionlib here.