Jolin,

While you're right that the intended server is move_base, I'm afraid its not
as simple as just rosrunning the move_base node. You'll first need to
configure it for your platform following this tutorial:
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup. Unless someone has
the navigation stack configured for a Pioneer 3 already and wants to share?

Hope all is well,

Eitan

2010/11/4 Jolin Jia <pplin86@gmail.com>

> Hi,
>
> I am learning sending a simple navigation goal to the robot in the website
> of http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals. And I
> found the simple_navigation_goals package is just the client. There must be
> a server. So I write the code of server, but I am shamed that I don't very
> understand the operating mechanism of the server. The file for the server is
> as following:
>
> =======================================simple_navigation_server.cpp==============================
> #include <ros/ros.h>
> #include <move_base_msgs/MoveBaseAction.h>
> #include <actionlib/server/simple_action_server.h>
> #include <geometry_msgs/PoseStamped.h>
> #include "geometry_msgs/Twist.h"
> class simple_server
> {
> public:
>   simple_server(std::string name):as_(nh_,name),action_name_(name)
>   {
>     // Register the goal and feeback callbacks
>     as_.registerGoalCallback(boost::bind(&simple_server::goalCB, this));
>     as_.registerPreemptCallback(boost::bind(&simple_server::preemptCB,
> this));
>     sub_ =
> nh_.subscribe("/random_number",1,&simple_server::analysisCB,this);
>     cmd.linear.x = cmd.linear.y = cmd.angular.z = 0;
>
>     // ¹ã²¥ÃüÁî
>     cmd_pub_ = nh_.advertise<geometry_msgs::Twist>("/p3robot/cmd",1);
>   }
>   void goalCB()
>   {
>     ROS_INFO("%s : received a new goal",action_name_.c_str());
>     as_.acceptNewGoal();
>     ROS_INFO("end of receiving the new goal");
>   }
>   void preemptCB()
>   {
>     ROS_INFO("%s : preempted",action_name_.c_str());
>     as_.setPreempted();
>   }
>   void analysisCB(const geometry_msgs::PoseStamped::ConstPtr& msg)
>   {
>     ROS_INFO("get in analysisCB");
>     if(!as_.isActive())
>       return;
>     //feedback_.feedback.base_position.header = msg->header;
>     //feedback_.feedback.base_position.pose.position.x =
> msg->pose.position.x;
>     //feedback_.feedback.base_position.pose.orientation.w =
> msg->pose.orientation.w;
>     cmd.linear.x = msg->pose.position.x;
>     ROS_INFO("the position value is %d \n ",msg->pose.position.x);
>     cmd_pub_.publish(cmd);
>     //as_.setSucceeded(result_);
>   }
> protected:
>   ros::NodeHandle nh_;
>   actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> as_;
>   std::string action_name_;
>   geometry_msgs::PoseStamped goal_;
>   move_base_msgs::MoveBaseActionFeedback feedback_;
>   move_base_msgs::MoveBaseActionResult result_;
>   ros::Subscriber sub_;
>
>   ros::Publisher cmd_pub_;
>
>   geometry_msgs::Twist cmd;
> };
>
> int main(int argc, char** argv)
> {
>   ros::init(argc,argv,"simple_server");
>   simple_server serverInstance("move_base");
>   ros::spin();
>
>   return 0;
> }
> ============================end of the
> file=================================
>
> When I type "roscore"¡¢ "rosrun simple_navigation_goals
> simple_navigation_server
> "¡¢ "rosrun simple_navigation_goals simple_navigation_goals"£¬I can find that
> the client has sending a goal, and the server can receive the goal, but it
> can't enter into the function of "preemptCB" and "analysisCB", that's to say
> I can't publish the "/p3robot/cmd" cmd. I think there must be some problem
> in the server file.
>
> Then I am trying another way. I find the "move_base" package is really a
> server. But when I type "rosrun move_base move_base" and "rosrun
> simple_navigation_goals simple_navigation_goals", I find the client always
> gets the "Waiting for the move_base action server to come up" outputs. This
> means the client can't get touched the server. But the "move_base" node is
> really a server named "move_server". What is the problem?
>
> Thanks in advanced!
>
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