goal pose is not mirrored with rviz.

[jihoonl]

If navigation goal is set in the rviz, the web interface does not show the goal.

[rctoris]

Hmmm, this makes sense. I will have to think of a work around. This is because actionlib is used. When rviz sends out a goal, it gets its own goal ID that web clients do not know about. That is, they are never really notified. Actionlib was never really designed for multiple clients concerned with a single goal.

Hmmmmm.....!!

[jihoonl]

Hm...

The way I worked around was setting up the subscriber which listens to move_base action goal. Then it will visualize the nav goals regardless of goal id.

The other way is listening to /move_base/current_goal. Seems like this is the pose publisher.

[rctoris]

/move_base/current_goal seems like it would be the more stable solution

[jihoonl]

Yeah /move_base/current_goal seems the right way to do.