rtabmap_msgs/srv/GetPlan.srv

# Get a plan from the current position to the goal node or pose 

# The final node of the goal (set 0 to use pose instead)
int32 goal_node
# The final pose of the goal position (used only if goalNodeId=0)
geometry_msgs/PoseStamped goal

# How many meters from the map's graph we can plan (0=infinite)
float32 tolerance
---
Path plan
rtabmap: updated list_labels service to return also node ids, added get_plan_nodes service to get path AND node ids 2019-03-19 16:06:04 -04:00			`# Get a plan from the current position to the goal node or pose`

			`# The final node of the goal (set 0 to use pose instead)`
			`int32 goal_node`
			`# The final pose of the goal position (used only if goalNodeId=0)`
			`geometry_msgs/PoseStamped goal`

			`# How many meters from the map's graph we can plan (0=infinite)`
			`float32 tolerance`
			`---`
ported rtabmap_ros_pkg_split to ros2 2023-02-22 23:11:49 -08:00			`Path plan`