Revision history [back]

If I understood your question, it seems to me that you are looking to this problem from the wrong perspective, you can solve it even with the use of simple topics and services without having to use Actionlib (which is a bit more powerful and complicated). Have you asked yourself how does a mobile robot navigates or plans a path? (if not, please search for it). It is not difficult, just create a structured architecture where your nodes communicate with each-other (publish subscribe to topics), where there must be a topic that plans your path and a node that takes care of the odometry (position), so, the node that senses the location (odometry) must be publishing the position all the time. In the path planner node, use an if statement inside the listener subscribed to the topic that is publishing the odometry (odom_pose) to make sure that you will generate the new goal only when odom_pose is close enough to the previous goal_pose.

A better question could be more helpful.

If I understood your question, it seems to me that you are looking to this problem from the wrong perspective, you can solve it even with the use of simple topics and services without having to use Actionlib (which is a bit more powerful and complicated). complicated).

Have you asked yourself how does a mobile robot navigates or plans a path? (if not, please search for it). It is not difficult, just create a structured architecture where your nodes communicate with each-other (publish subscribe to topics), (publish/subscribe pattern), where there must be a topic node that plans your path and a node that takes care of the odometry (position), so, the node that senses the location (odometry) must be publishing the position all the time. In the path planner node, use an if statement inside the listener subscribed to the topic that is publishing the odometry (odom_pose) to make sure that you will generate the new goal only when odom_pose is close enough to the previous goal_pose.

A better question could be more helpful.