get_plan.hpp

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namespace nav_msgs::srv {
class GetPlan {};
class GetPlan::Request {
public:
    // Get a plan from the current position to the goal Pose
 
    // The start pose for the plan
    geometry_msgs::msg::PoseStamped start;
 
    // The final pose of the goal position
    geometry_msgs::msg::PoseStamped goal;
 
    // If the goal is obstructed, how many meters the planner can
    // relax the constraint in x and y before failing.
    float tolerance;
};
 
class GetPlan::Response {
public:
    // Array of poses from start to goal if one was successfully found.
    msg::Path plan;
};
} // namespace nav_msgs::srv