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Build this package with catkin. Make sure to source your workspace at every command execution below.

Start the Thorvald/Husky robots and /navigate_to_pose action server.

roslaunch imrt_navigate_to_pose thorvald_nav.launch

You can send action goals to /navigate_to_pose action server with axclient.py GUI.

rosrun actionlib axclient.py /navigate_to_pose imrt_navigate_to_pose/NavigateToPoseAction

Or you can send action goals to /navigate_to_pose action server with client node;

rosrun imrt_navigate_to_pose action_client

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