add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
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+# Clears the costmap within a distance
+
+float32 reset_distance
+---
+std_msgs/Empty response
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+# Clears the costmap except a rectangular region specified by reset_distance
+
+float32 reset_distance
+---
+std_msgs/Empty response
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+# Clears all layers on the costmap
+
+std_msgs/Empty request
+---
+std_msgs/Empty response
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+# Get the costmap
+
+# Specifications for the requested costmap
+nav2_msgs/CostmapMetaData specs
+---
+nav2_msgs/Costmap map
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+#Determine if the current path is still valid
+
+nav_msgs/Path path
+---
+bool is_valid
+int32[] invalid_pose_indices 
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+# URL of map resource
+# Can be an absolute path to a file: file:///path/to/maps/floor1.yaml
+# Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml
+string map_url
+---
+# Result code defintions
+uint8 RESULT_SUCCESS=0
+uint8 RESULT_MAP_DOES_NOT_EXIST=1
+uint8 RESULT_INVALID_MAP_DATA=2
+uint8 RESULT_INVALID_MAP_METADATA=3
+uint8 RESULT_UNDEFINED_FAILURE=255
+
+# Returned map is only valid if result equals RESULT_SUCCESS
+nav_msgs/OccupancyGrid map
+uint8 result
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+uint8 STARTUP = 0
+uint8 PAUSE = 1
+uint8 RESUME = 2
+uint8 RESET = 3
+uint8 SHUTDOWN = 4
+
+uint8 command
+---
+bool success
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+# URL of map resource
+# Can be an absolute path to a file: file:///path/to/maps/floor1.yaml
+# Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml
+string map_topic
+string map_url
+# Constants for image_format. Supported formats: pgm, png, bmp
+string image_format
+# Map modes: trinary, scale or raw
+string map_mode
+# Thresholds. Values in range of [0.0 .. 1.0]
+float32 free_thresh
+float32 occupied_thresh
+---
+bool result
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+geometry_msgs/PoseWithCovarianceStamped pose
+---
+