rospy.init_node('simple_navigation_goals')
# create a client
client = SimpleActionClient('simple_navigation_goals', msg.MoveBaseAction)
#Wait for the server to come up
client.wait_for_server()
ac = SimpleActionClient()
#Create a goal to send
goal = msg.MoveBaseActionGoal()
goal.goal.target_pose.header.frame_id = "base_link";
goal.goal.target_pose.header.stamp = rospy.get_rostime()
goal.goal.target_pose.pose.position.x = 1.0
goal.goal.target_pose.pose.orientation.w = 1.0
# Send the goal
rospy.loginfo("Sending Pythonic Goal")
client.send_goal(goal)
# Wait around a bit
client.wait_for_result()
# Print out the results
res = client.getState()
print "Has res (%s) succeeded? %s" % (res, actionlib.SimpleGoalState.DONE)
