goal_test_1

#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include "geometry_msgs/PointStamped.h"
#include "tf/transform_listener.h"

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;

int main(int argc, char** argv)
{
    ros::init(argc, argv, "simple_navigation_goals");

    MoveBaseClient ac("move_base", true);

    while(!ac.waitForServer(ros::Duration(5.0))){
        ROS_INFO("Waiting for the move_base action server to come up");
    }

    tf::TransformListener t;
    ros::Time cTime = ros::Time::now();
    ros::Duration dur(3.0);

    if(t.waitForTransform("/base_link", "/odom", cTime, dur)){
        move_base_msgs::MoveBaseGoal goal;

        geometry_msgs::PointStamped ps;
        ps.header.frame_id = "/odom";
        ps.header.stamp = cTime;
        ps.point.x = 2700.0;
        ps.point.y = 1700.0;
        ps.point.z = 0.0;

        geometry_msgs::PointStamped pt;
        t.transformPoint("base_link", ps, pt);

        goal.target_pose.header.frame_id = "/base_link";
        goal.target_pose.header.stamp = ros::Time::now();

        goal.target_pose.pose.position.x = pt.point.x;
        goal.target_pose.pose.position.y = pt.point.y;
        goal.target_pose.pose.position.z = pt.point.z;
        goal.target_pose.pose.orientation.w = 1.0;

        ROS_INFO("Sending goal");
        ac.sendGoal(goal);
        ac.waitForResult();

        if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
            ROS_INFO("Hooray, the base moved to 2700;1700");
        else
            ROS_INFO("The base failed to move to 2700;1700");
    }
    else{
        ROS_ERROR("Transform /base_link /odom not found");
    }

    return 0;
}