Message Definition

byte GO_TO_WAYPOINT=0
byte DRIVE_TO_POINT_IN_IMAGE=1
byte FOLLOW_ME=2

byte nav_type
geometry_msgs/Pose pose
---
---
#State fed back to ios (Controlling, Planning, etc)
string state
#Current state of may_nav's state machine
string state_machine_state

#target pose is the target_pose set by the local planner
geometry_msgs/Pose2D target_pose
geometry_msgs/Pose2D cmd_vel
#has_bumped is set to true when the bump sensor message has been received by may_nav
bool has_bumped
uint32 num_replans
bool replan_failure_occurred

Goal

nav_type
Specifies the navigation mode. 0 is the standard drive to waypoint mode. 1 makes unknown space traversable and bounds the planning to a circular region surrounding the goal and start pose (good for navigating to a point that you can see in the camera image). 2 is a person following mode that is deprecated.

pose
The goal pose for the navigation request

Feedback

string state
State used to update the app

string state_machine_state
The local planner state machine state

geometry_msgs/Pose2D target_pose
The local planner’s target pose

geometry_msgs/Pose2D cmd_vel
The last velocity commanded by the local planner

bool has_bumped
Whether nav processed a bump on the current time step

uint32 num_replans
The number of times the global planner has replanned

bool replan_failure_occurred
True if a replan failure occurred on this time step

Related Documentation

/navigate