Raw Message Definition
# Node from which to plan, leave empty to plan from robot's current position.
# The goal can be specified in two ways:
# - Setting to_node to the name of the node to reach, the pose is ignored
# - If to_node is empty, the target will be to_pose (even if it is (0,0,0))
# The pose must be in the global reference frame, e.g., /map.
# ok==true if a path could be found, false otherwise
# An optional error message if ok==false
# The following holds the result of the path search if ok==true
# Note that if from_node is empty an additional free node denoting the current
# position will be first in the path. Further, if a target pose was specified
# (and not a node name) then a free-target node will be last in the path.
Compact Message Definition