File: nav_msgs/GetPlan.srv
# 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
Expanded Definition