def setPose(self, x, y, z, delay=0, wait=True):
        self.done = False
        self.x = x
        self.y = y
        self.z = z
        self.navigating = True
        if wait:
            rate = rospy.Rate(5)
            while not self.done and not rospy.is_shutdown():
                rate.sleep()
        time.sleep(delay)