https://qiita.com/porizou1/items/cb9382bb2955c144d168
https://daily-tech.hatenablog.com/entry/2017/02/11/214336
https://docs.ros.org/en/foxy/Tutorials/Understanding-ROS2-Actions.html
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Navigation2 にゴールを送信するサンプルプログラム
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