Build this package with catkin. Make sure to source your workspace at every command execution below.
Start the Thorvald/Husky robots and /navigate_to_pose action server.
roslaunch imrt_navigate_to_pose thorvald_nav.launch
You can send action goals to /navigate_to_pose action server with axclient.py GUI.
rosrun actionlib axclient.py /navigate_to_pose imrt_navigate_to_pose/NavigateToPoseAction
Or you can send action goals to /navigate_to_pose action server with client node;
rosrun imrt_navigate_to_pose action_client