Function nav_2d_utils::adjustPlanResolution

• Defined in File path_ops.hpp

Function Documentation

nav_2d_msgs::msg::Path2D nav_2d_utils::adjustPlanResolution(const nav_2d_msgs::msg::Path2D &global_plan_in, double resolution)

Increase plan resolution to match that of the costmap by adding points linearly between points.

Parameters:

• global_plan_in – input plan

• resolution – desired distance between waypoints

Returns:

Higher resolution plan