Message Definition

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.

Arguments

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