dijkstra_global_planner

Enviornment

• Ubuntu 16.04 or 18.04
• ROS Kinetic or Melodic

Dependencies

• amsl_navigation_msgs

Published topics

• /global_path/path (std_msgs/Int32MultiArray)
• /global_path/path/viz (visualization_msgs/MarkerArray)

Subscribed topics

• /node_edge_map/map (amsl_navigation_msgs/NodeEdgeMap)
• /node_edge_map/checkpoint (std_msgs/Int32MultiArray)
• /estimated_pose/edge (amsl_navigation_msgs/Edge)

Services

• /global_path/replan (amsl_navigation_msgs/Replan)

Parameters

• init_node0_id
  • node id of the begin of initial edge (default: 0)
• init_node1_id
  • node id of the end of initial edge (default: 1)
• init_progress
  • initial progress on initial edge (default: 0.0)