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.

- 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 <zac@mit.edu> 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
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