PlanRoute

This is a ROS service definition.

Source

std_msgs/Header header         # the frame the request and response are
                               # referenced in

geometry_msgs/Pose[] waypoints # series of points the route should pass through
bool plan_from_vehicle         # add the vehicle position as the first waypoint

---

Route  route     # planned route

bool success     # indicate successful run of service
string message   # informational, e.g. for error messages
float64 cost     # informational, cost of planned route