Sending goals
We are sure that you have been playing with the robot by moving it around the map a lot. This is funny but a little tedious, and it is not very functional.
Perhaps you were thinking that it would be a great idea to program a list of movements and send the robot to different positions with only a button, even when we are not in front of a computer with rviz.
Okay, now you are going to learn how to do it using actionlib.
The actionlib package provides a standardized interface for interfacing with tasks. For example, you can use it to send goals for the robot to detect something at a place, make scans with the laser, and so on. In this section, we will send a goal to the robot, and we will wait for this task to end.
It could look similar ...
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