geometry_msgs::PoseStamped Start;

    Start.header.seq = ;

    Start.header.stamp = Time();

    Start.header.frame_id = "map";

    Start.pose.position.x = x1;

    Start.pose.position.y = y1;

    Start.pose.position.z = 0.0;

    Start.pose.orientation.x = 0.0;

    Start.pose.orientation.y = 0.0;

    Start.pose.orientation.w = 1.0;

geometry_msgs::PoseStamped Goal;

    Goal.header.seq = ;

    Goal.header.stamp = Time();

    Goal.header.frame_id = "map";

    Goal.pose.position.x = x2;

    Goal.pose.position.y = y2;

    Goal.pose.position.z = 0.0;

    Goal.pose.orientation.x = 0.0;

    Goal.pose.orientation.y = 0.0;

    Goal.pose.orientation.w = 1.0;

ServiceClient check_path = nh_.serviceClient<nav_msgs::GetPlan>("make_plan");

    nav_msgs::GetPlan srv;

    srv.request.start = Start;

    srv.request.goal = Goal;

    srv.request.tolerance = 1.5;

    ROS_INFO("Make plan: %d", (check_path.call(srv) ?  : ));

    ROS_INFO("Plan size: %d", srv.response.plan.poses.size());

move_base_msgs::MoveBaseGoal move_goal;

move_goal.target_pose.header.frame_id = "map";

move_goal.target_pose.header.stamp = Time();

move_goal.target_pose.pose.position.x = x;

move_goal.target_pose.pose.position.y = y;

move_goal.target_pose.pose.position.z = 0.0;

move_goal.target_pose.pose.orientation.x = 0.0;

move_goal.target_pose.pose.orientation.y = 0.0;

move_goal.target_pose.pose.orientation.w = 1.0;

ROS_INFO("Sending goal");

ac_.sendGoal(move_goal,boost::bind(&ExploreAction::doneCb, this, _1, _2));