How to use simpleactionserver without having to make excutable
Looking at the tuorial at: http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals
I get to the last step and it says:
After this, its as simple as running the executable we created. ./bin/simple_navigation_goals And, if all goes well, the robot should begin to move a meter forward.
Which works great and the robot moves forward.
But doing this have I really created an node that is running? I am used to this typical interface where you do
rosrun simple_navigation_goals simple_navigation_goals.cpp
How would I include this executable in a launch file for more complex use?
Thanks, goatfig
P.S. It is very possible that I just do not understand the mechanic for executables in ROS. If this is the case please just point me to an tutorial if one happens to exist.
