Nav Stack Integration

Open Question

How do we offer an interface that gives MoveIt! developers the most powerful tools/functions with respect to loading, queueing and executing navigation plans?

This is an excellent code sample…
http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals
This is the key action…
http://docs.ros.org/api/move_base_msgs/html/action/MoveBase.html

An interesting package already integrated with actionlib and move_base…
http://wiki.ros.org/follow_waypoints
https://github.com/danielsnider/follow_waypoints/blob/master/src/follow_waypoints/follow_waypoints.py
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Move_base Threading Model…

See Page __ of Ingo Lutkenbohle’s “Determinism in Robotics” presentation at ROSCON 2017
http://https://roscon.ros.org/2017/#program