PlanPath

This is a ROS action definition.

Source

geometry_msgs/Pose goal

string algorithm_name         # Name of the planning algorithm to be used

PathTrackingError end_tolerance     # tolerance for end goal - keep planning until location error is within tolerance
---
# Result
PathTrackingError end_displacement      # Error between end location and goal location
bool reached_end        # If goal location is reached within given tolerance
---
# Feedback
geometry_msgs/PoseStamped current_pose     # Robot current position
bool reached_end        # If goal location is reached within given tolerance