may_nav_msgs/Trajectory[] trajectories
float32[] scores
float32[] plan_distance_scores
float32[] target_distance_scores
float32[] plan_angle_difference_scores
float32[] target_angle_difference_scores
float32[] obstacle_scores
float32[] heading_angle_difference_scores
int32 chosen_trajectory_index
Scored trajectories with component breakdown. See may-nav node documentation (may_nav) for details on scoring.
trajectories
Array of trajectories considered
scores
Final scores for each trajectory
plan_distance_scores
Scores related to the distance to the global plan
target_distance_scores
Scores related to the distance to the target pose on the global plan
plan_angle_difference_scores
Scores related to the difference in orientation from the target pose
target_angle_difference_scores
Scores related to how far the robot is from being pointed at the target pose
obstacle_scores
Scores related to distances from obstacles
heading_angle_difference_scores
Scores related to the difference between the robot heading and the plan heading
chosen_trajectory_index
Which trajectory had the highest score
/rotating_to_global_plan/trajectories/scored_trajectories
/following_global_plan/trajectories/scored_trajectories