text: #!/usr/bin/env python
  import rospy
  from hide_and_seek_navigation.msg import listmsg
  from std_msgs.msg import String
  
  def planner():
      pub = rospy.Publisher('move_base_goal', listmsg, queue_size=5)
      rospy.init_node('planner')
      rate = rospy.Rate(10)
      while not rospy.is_shutdown():
          msg = listmsg()
          msg.x = 0.5
          msg.y = 0.5
          msg.yaw = 90
          pub.publish(msg)
          rate.sleep()
  
  if __name__ == '__main__':
      try:
          planner()
      except rospy.ROSInterruptException:
          pass