Question: In c++ write a node gotopose that subscribes to the targetpose topic, and moves the robot there using the non-blocking action provided by move_base. write

In c++

write a node "gotopose" that subscribes to the "targetpose" topic, and moves the robot there using the non-blocking action provided by move_base.

write a node "gotoposetimeout" that works like the previous one, but if the target location is not reached within 5 seconds, it stops (preempts) the action. To do that, you need to call the cancelGoal method in SimpleActionClient

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