single2DGoalSend.py

#!/usr/bin/env python

import rospy, actionlib, tf
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal

# convert x,y,radians into 3D pose and send to move_base action server
def publishgoal(str):
	global move_base
	
	s = str.split(",")
	x = float(s[0])
	y = float(s[1])
	th = float(s[2])
	
	goal = MoveBaseGoal()
	goal.target_pose.header.stamp = rospy.Time.now()
	goal.target_pose.header.frame_id = "map"
	
	goal.target_pose.pose.position.x = x
	goal.target_pose.pose.position.y = y
	goal.target_pose.pose.position.z = 0.0
	
	quat = tf.transformations.quaternion_from_euler(0, 0, th)
	goal.target_pose.pose.orientation.x = quat[0]
	goal.target_pose.pose.orientation.y = quat[1]
	goal.target_pose.pose.orientation.z = quat[2]
	goal.target_pose.pose.orientation.w = quat[3]

	move_base.send_goal(goal)
	
	
# Main	

# initialize node
rospy.init_node('single2DGoalSend', anonymous=False)

# connect to move_base action server
move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
move_base.wait_for_server()

publishgoal("4.797,2.962,-3.1241")