#include?
#include?
#include?se_msgs/MovebaseAction.h>
#include?“tf/tf.h“
#include?
#include?
typedef?actionlib::SimpleActionClientse_msgs::MovebaseAction>?MovebaseClient;
class?MyNode
{
public:

	MovebaseClient*?ac_;
	void?init（）?{
		//MovebaseClient?ac（“move_base“?true）;
		ac_?=?new?MovebaseClient（“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“）;
		}
	}

	bool?doStuff（const?double&?x_set?const?double&?y_set?const?double&?z_set?const?double&?x?const?double&?y?const?double&?z?const?double&?w）
	{
		move_base_msgs::MovebaseGoal?goal;
		if?（x_set?!=?last_x_set?||?y_set?!=?last_y_set）
		{
			//we‘ll?send?a?goal?to?the?robot?to?move?1?meter?forward
			goal.target_pose.header.frame_id?=?“map“;
			goal.target_pose.header.stamp?=?ros::Time::now（）;

			goal.target_pose.pose.position.x?=?x_set;
			goal.target_pose.pose.position.y?=?y_set;
			goal.target_pose.pose.position.z?=?0;

			//??????????tf::Quaternion?q;
			//??????????q.setRotation（tf::Vector3（0?0?1）?th_set）;
			goal.target_pose.pose.orientation.x?=?x;
			goal.target_pose.pose.orientation.y?=?y;
			goal.target_pose.pose.orientation.z?=?z;
			goal.target_pose.pose.orientation.w?=?w;

			ROS_INFO（“Sending?goal“）;
			//?ac.sendGoal（goal）;
			ac_->sendGoal（goal
				boost::bind（&MyNode::doneCb?this?_1?_2）
				MovebaseClient::SimpleActiveCallback（）
				MovebaseClient::SimpleFeedbackCallback（））;
			success_?=?false;
		}
		last_x_set?=?x_set;?last_y_set?=?y_set;
		return?success_;
	}