nav_msgs¶

Message types¶

• nav_msgs/MapMetaData
• nav_msgs/Odometry
• nav_msgs/GridCells
• nav_msgs/Path
• nav_msgs/OccupancyGrid

nav_msgs/MapMetaData¶

Field:	map_load_time (time) – resolution (float32) – width (uint32) – height (uint32) – origin (geometry_msgs/Pose) –

This hold basic information about the characterists of the OccupancyGrid

The time at which the map was loaded

# This hold basic information about the characterists of the OccupancyGrid

# The time at which the map was loaded
time map_load_time
# The map resolution [m/cell]
float32 resolution
# Map width [cells]
uint32 width
# Map height [cells]
uint32 height
# The origin of the map [m, m, rad].  This is the real-world pose of the
# cell (0,0) in the map.
geometry_msgs/Pose origin

nav_msgs/Odometry¶

Field:	header (std_msgs/Header) – child_frame_id (string) – pose (geometry_msgs/PoseWithCovariance) – twist (geometry_msgs/TwistWithCovariance) –

This represents an estimate of a position and velocity in free space. The pose in this message should be specified in the coordinate frame given by header.frame_id. The twist in this message should be specified in the coordinate frame given by the child_frame_id

# This represents an estimate of a position and velocity in free space.  
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist

nav_msgs/GridCells¶

Field:	header (std_msgs/Header) – cell_width (float32) – cell_height (float32) – cells[] (geometry_msgs/Point) –

an array of cells in a 2D grid

#an array of cells in a 2D grid
Header header
float32 cell_width
float32 cell_height
geometry_msgs/Point[] cells

nav_msgs/Path¶

Field:	header (std_msgs/Header) – poses[] (geometry_msgs/PoseStamped) –

An array of poses that represents a Path for a robot to follow

#An array of poses that represents a Path for a robot to follow
Header header
geometry_msgs/PoseStamped[] poses

nav_msgs/OccupancyGrid¶

Field:	header (std_msgs/Header) – info (nav_msgs/MapMetaData) – data[] (int8) –

This represents a 2-D grid map, in which each cell represents the probability of occupancy.

# This represents a 2-D grid map, in which each cell represents the probability of
# occupancy.

Header header 

#MetaData for the map
MapMetaData info

# The map data, in row-major order, starting with (0,0).  Occupancy
# probabilities are in the range [0,100].  Unknown is -1.
int8[] data

Service types¶

• nav_msgs/SetMap
• nav_msgs/GetMap
• nav_msgs/GetPlan

nav_msgs/SetMap¶

Field (Request):
	map (nav_msgs/OccupancyGrid) – initial_pose (geometry_msgs/PoseWithCovarianceStamped) –
Field (Response):
	success (bool) –

Set a new map together with an initial pose

# Set a new map together with an initial pose
nav_msgs/OccupancyGrid map
geometry_msgs/PoseWithCovarianceStamped initial_pose
---
bool success

nav_msgs/GetMap¶

Field (Response):
	map (nav_msgs/OccupancyGrid) –

# Get the map as a nav_msgs/OccupancyGrid
---
nav_msgs/OccupancyGrid map

nav_msgs/GetPlan¶

Field (Request):
	start (geometry_msgs/PoseStamped) – goal (geometry_msgs/PoseStamped) – tolerance (float32) –
Field (Response):
	plan (nav_msgs/Path) –

Get a plan from the current position to the goal Pose

The start pose for the plan

# Get a plan from the current position to the goal Pose 

# The start pose for the plan
geometry_msgs/PoseStamped start

# The final pose of the goal position
geometry_msgs/PoseStamped goal

# If the goal is obstructed, how many meters the planner can 
# relax the constraint in x and y before failing. 
float32 tolerance
---
nav_msgs/Path plan

Action types¶

• nav_msgs/GetMap

nav_msgs/GetMap¶

Field (Result):	map (nav_msgs/OccupancyGrid) –

# Get the map as a nav_msgs/OccupancyGrid
---
nav_msgs/OccupancyGrid map
---
# no feedback