Zac, I wrote a node a while back to do exactly what Eitan described. A good starting point to using it would be looking at the 'start_goal_planner_indoors.launch' file in https://github.com/cwru-robotics/cwru-ros-pkg/tree/master/cwru_semi_stable/cwru_goal_planner . You specify the list of goals in a yaml file and then the simple_goal_planner.py node executes them in the specified order. Looking at that launch file should give you a good example of usage. If you have any questions or problems with any of the code, let me know. - Eric On Fri, Dec 3, 2010 at 8:41 PM, Eitan Marder-Eppstein < eitan@willowgarage.com> wrote: > Zac, > > To my knowledge, this hasn't been done, but, as you said, it would be > pretty simple to implement. You just write a node that queues up goals to > send to move base and waits for each one to complete before sending the next > one. Perhaps someone has done it without me hearing about it though. > > Hope all is well, > > Eitan > > > On Fri, Dec 3, 2010 at 5:15 PM, zdydek wrote: > >> >> Hi All, >> >> I'm looking to have a functionality where I can send a list of waypoints >> and >> have move_base execute them sequentially. >> >> From what I understand, the SimpleActionServer that handles goals like >> move_base destinations is designed to have exactly 1 active goal, and new >> goals preempt the execution of the active goal. I couldn't seem to find a >> "MultiActionServer" anywhere (although I found one lead in mech_turk_ros, >> it >> didn't seem to lead anywhere...). >> >> I have some ideas of how I could implement this, but since it seems like a >> pretty basic feature, I first wanted to see if any of you have done this >> before. >> >> Thanks! >> >> -Zac >> -- >> View this message in context: >> http://ros-users.122217.n3.nabble.com/Multiple-waypoints-in-move-base-tp2015734p2015734.html >> Sent from the ROS-Users mailing list archive at Nabble.com. >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >