2D Nav Goal not working in Rviz

edit

I am using a Toyota HSR robot running ubuntu 16.04 and ROS kinetic. I am having issues getting the move_base node to work by sending nav goals in Rviz. When I do rostopic list | grep move I see the following topic: /move_base/move/goal. However when I run Rviz, Rviz sends its 2D nav goals to the topic /move_base_simple/goal. I thought about just switching the topic that the 2D Nav goal publishes to but unfortunately the two topics do not have the same message types. /move_base/move/goal is of type move_base_msgs/MoveBaseActionGoal whilst /move_base_simple/goal is of type geometry_msgs/PostStamped. Currently I am thinking of writing a node that subscribes to /move_base_simple/goal and publishes to /move_base/move/goal but I am wondering if there is an easier way to go about this. Thanks for all the help!

#!/usr/bin/env python

import rospy
import roslib
import actionlib

from std_msgs.msg import String, Empty
from geometry_msgs.msg import PoseStamped
from move_base_msgs.msg import MoveBaseActionGoal, MoveBaseGoal
from actionlib_msgs.msg import GoalID


'''def goal_client():
    client = actionlib.SimpleActionClient('send_goal', GoalID)
    client.wait_for_server()'''



def callback(data):
    rospy.loginfo(rospy.get_caller_id() + ' I Heard %s', data.header.stamp)
    rospy.loginfo(rospy.get_caller_id() + ' I Heard %s', data)
    #rospy.loginfo(rospy.get_caller_id() + ' I Heard %s', data.pose.position)
    #rospy.loginfo(rospy.get_caller_id() + ' I heard %s', data.pose.orientation)
    #rospy.loginfo(rospy.get_caller_id() + ' I heard %s', data.header)
    pub = rospy.Publisher('move_base/move/goal', MoveBaseActionGoal, queue_size = 10)
    stuff_to_publish = MoveBaseActionGoal()
    stuff_to_publish.header = data.header
    stuff_to_publish.goal_id.stamp = data.header.stamp
    stuff_to_publish.goal_id.id = 'random_string'
    stuff_to_publish.goal.target_pose = data
    pub.publish(stuff_to_publish)        

def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same
    # name are launched, the previous one is kicked off. The
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'listener' node so that multiple listeners can
    # run simultaneously.
    rospy.init_node('navgoallistener', anonymous=True)

    rospy.Subscriber('move_base_simple/goal', PoseStamped, callback)

    #message = rospy.Subscriber('move_base_simple/goal', PoseStamped, callback)
    #print message.pose.orientation

    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()

"""def talker():
    pub = rospy.Publisher('move_base/move/goal', MoveBaseActionGoal, queue_size = 10)
    rospy.init_node('navgoalsetter', anonymous = True)"""


if __name__ == '__main__':
    try:
        listener()
    except rospy.ROSInterruptException:
        pass