Hello,
I am following this [tutorial](http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals) to send a goal for navigation.
I have modified the code to send multiple goals as oppose to one, below is the code I am using:
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#include
#include
#include
#include
#include
typedef actionlib::SimpleActionClient MoveBaseClient;
int x [3] = {2, 2, 2};
int w [3] = {1, 1, 1};
int lenght0f_Array = sizeof(x) / sizeof(x[0]);
int main(int argc, char** argv){
ros::init(argc, argv, "simple_navigation_goals");
//tell the action client that we want to spin a thread by default
MoveBaseClient ac("move_base", true);
//wait for the action server to come up
while(!ac.waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the move_base action server to come up");
}
move_base_msgs::MoveBaseGoal goal;
//we'll send a goal to the robot to move 1 meter forward
goal.target_pose.header.frame_id = "base_link";
goal.target_pose.header.stamp = ros::Time::now();
for( int i = 0; i < lenght0f_Array; i = i + 1 ) {
goal.target_pose.pose.position.x = x[i];
goal.target_pose.pose.orientation.w = w[i];
ROS_INFO("Sending goal");
ac.sendGoal(goal);
ac.waitForResult();
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("Hooray, the base moved 1 meter forward");
else
ROS_INFO("The base failed to move forward 1 meter for some reason");
}
return 0;
}
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When I try to do catkin_make, I get the error:
simple_navigation_goals/CMakeFiles/simple_navigation_goals.dir/build.make:62: recipe for target 'simple_navigation_goals/CMakeFiles/simple_navigation_goals.dir/src/simple_navigation_goals.cpp.o' failed
make[2]: *** [simple_navigation_goals/CMakeFiles/simple_navigation_goals.dir/src/simple_navigation_goals.cpp.o] Error 1
CMakeFiles/Makefile2:5500: recipe for target 'simple_navigation_goals/CMakeFiles/simple_navigation_goals.dir/all' failed
make[1]: *** [simple_navigation_goals/CMakeFiles/simple_navigation_goals.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 92%] Built target visp_hand2eye_calibration_client
[ 94%] Built target trackerNodelet
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
Does anyone know how to fix this error?
Thanks,
Aaron
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