text: #!/usr/bin/env python2
  import rospy
  import tf_conversions
  from geometry_msgs.msg import PoseStamped
  
  goal_theta = 0.0
  
  def goal_publisher():
      pub = rospy.Publisher('move_base_simple/goal', PoseStamped, queue_size=1)
      rospy.init_node('goal_pub', anonymous=True)
      rate = rospy.Rate(60) 
      global theta
      ct = 0
  
      while ct <1000 and(not rospy.is_shutdown()):
          goal = PoseStamped();
          ct+=1
          goal.header.stamp = rospy.Time.now()
          goal.header.frame_id = "odom"
  
          goal.pose.position.x = 10.0
          goal.pose.position.y = 5.5
          goal.pose.position.z = 0.0
          
          goal_quat = tf_conversions.transformations.quaternion_from_euler(0, 0, goal_theta) 
          
          goal.pose.orientation.x = goal_quat[0]
          goal.pose.orientation.y = goal_quat[1]
          goal.pose.orientation.z = goal_quat[2]
          goal.pose.orientation.w = goal_quat[3]
  
          pub.publish(goal)
          
          rate.sleep()
  
  if __name__ == '__main__':
      try:
          goal_publisher()
      except rospy.ROSInterruptException:
          pass
  