# Publishing to move\_base from command line

**URL:** <https://get-help.theconstruct.ai/t/publishing-to-move-base-from-command-line/7925>\
**Category:** ROS Navigation In 5 Days\
**Created:** [January 29, 2021, 4:51am UTC](https://get-help.theconstruct.ai/t/publishing-to-move-base-from-command-line/7925 "2021-01-29T04:51:35Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![adeoduye](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/a/e79b87/32.png) [@adeoduye](https://get-help.theconstruct.ai/u/adeoduye)\
**Post date:** [January 29, 2021, 4:51am UTC](https://get-help.theconstruct.ai/t/publishing-to-move-base-from-command-line/7925/1 "2021-01-29T04:51:36Z")

</div>

I’m working my way through chapter 4 and at exercise 4.3, I am supposed to manually publish a destination point to the move\_base node.

I have tried the following:

> rostopic pub /move\_base/goal move\_base\_msgs/MoveBaseActionGoal 'header: seq: 7 stamp: now frame\_id: ‘’ goal\_id: stamp: now id: ‘’ goal: target\_pose: header: seq: 7 stamp: now frame\_id: “map” pose: position: x: 10.0 y: 5.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.5 w: 0.1 ’

. . . But I am gettig the following error :

> ```
> Usage: rostopic pub /topic type [args...]
> rostopic: error: Argument error: mapping values are not allowed here
> in "<unicode string>", line 1, column 13:
> header: seq: 7 stamp: now frame_id: goal_i ...
> ^
> 
> ```

As the notes don’t provide information on what data to provide the default blank move\_base\_msgs/MoveBaseActionGoal object, I really need some help understanding and solving this issue.

---

<div class="post-metadata">

**Author:** ![albertoezquerro](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/albertoezquerro/32/7031_2.png) [@albertoezquerro](https://get-help.theconstruct.ai/u/albertoezquerro)\
**Post date:** [February 1, 2021, 8:36am UTC](https://get-help.theconstruct.ai/t/publishing-to-move-base-from-command-line/7925/2 "2021-02-01T08:36:46Z")

</div>

Hello @adeoduye ,

The message has to be something like this:

```
rostopic pub /move_base/goal move_base_msgs/MoveBaseActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  target_pose:
    header:
      seq: 0
      stamp:
        secs: 0
        nsecs: 0
      frame_id: 'map'
    pose:
      position:
        x: 1.0
        y: 2.5
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.75
        w: 0.66"

```

You don’t have to fill all the data in the **header** section, except for the **frame\_id** argument in the **goal** section.

Best,