Interact with Rviz, send multiple goals to path planner

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I am not sure whether its possible to do it using RVIZ (I might be wrong) but you can use actionlib to send multiple goals. Example Code:

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;

// tell the action client that we want to spin a thread by default
MoveBaseClient ac("move_base",true);

std::vector<move_base_msgs::MoveBaseGoal> plan;

// Add multiple goals to plan of the type move_base_msgs::MoveBaseGoal
// Then, send it one by one:

for (int i = 0;i<plan.size();i++){
        ac.sendGoal(plan[i]); // Current Goal
        ac.waitForResult();

        if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
            ROS_INFO("Reached Goal successfully!");
        else
            ROS_INFO("Failed!");
    }

Hope it helps.

@Jose This tutorial might help you. https://github.com/ipa320/ipa_seminar...

Doesn't seem like there is any queueing done according to the source code for rviz here . That would be a cool pull request though to give a user the option on whether to queue goals sent from RViz or not.

EDIT: Sorry, I meant that it doesn't seem like there is any queining.