CheckPath
This is a ROS service definition.
Source
uint8 LOCAL_COSTMAP = 1
uint8 GLOBAL_COSTMAP = 2
nav_msgs/Path path # the path to be checked after transforming to costmap frame
float32 safety_dist # minimum distance allowed to the closest obstacle (footprint padding)
float32 lethal_cost_mult # cost multiplier for cells marked as lethal obstacle (zero is ignored)
float32 inscrib_cost_mult # cost multiplier for cells marked as inscribed obstacle (zero is ignored)
float32 unknown_cost_mult # cost multiplier for cells marked as unknown space (zero is ignored)
uint8 costmap # costmap in which to check the pose
uint8 return_on # abort check on finding a pose with this state or worse (zero is ignored)
uint8 skip_poses # skip this number of poses between checks, to speedup processing
bool use_padded_fp # include footprint padding when checking cost; note that safety distance
# will be measured from the padded footprint
bool path_cells_only # check only cells directly traversed by the path, ignoring robot footprint
# (if true, both safety_dist and use_padded_fp are ignored)
---
uint8 FREE = 0 # path is completely in traversable space
uint8 INSCRIBED = 1 # path is partially in inscribed space
uint8 LETHAL = 2 # path is partially in collision
uint8 UNKNOWN = 3 # path is partially in unknown space
uint8 OUTSIDE = 4 # path is partially outside the map
uint32 last_checked # index of the first pose along the path with return_on state or worse
uint8 state # path worst state (until last_checked): FREE, INSCRIBED, LETHAL, UNKNOWN...
uint32 cost # cost of all cells traversed by path within footprint padded by safety_dist
# or just by the path if path_cells_only is true