Function nav2_route::utils::toMsg(const nav2_route::Graph&, const std::string&, const rclcpp::Time&)

Defined in File utils.hpp

Function Documentation

inline visualization_msgs::msg::MarkerArray nav2_route::utils::toMsg(const nav2_route::Graph &graph, const std::string &frame, const rclcpp::Time &now)

Convert the route graph into a visualization marker array for visualization.

Parameters:

graph – Graph of nodes and edges
frame – Frame ID to use
now – Current time to use

Returns:

MarkerArray of the graph