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- # Get a plan from the current position to the goal Pose
- # The start pose for the plan
- geometry_msgs/PoseStamped start
- # The final pose of the goal position
- geometry_msgs/PoseStamped goal
- # If the goal is obstructed, how many meters the planner can
- # relax the constraint in x and y before failing.
- float32 tolerance
- ---
- nav_msgs/Path plan
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