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The tutorial on Global Planner says:

"The global planner is responsible for generating a high level plan for the navigation stack to follow. Given a goal that is arbitrarily far away from the robot, the global planner will create a series of waypoints for the local planner to achieve. "

How are these waypoints represented? Are they (x,y) coordinates? and How can I retrieve the waypoints when Global Planner is planning a path from the start to the goal point? Are they published on a topic?

Thanks


Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-07-28

Post score: 1

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The are x,y coordinates, generally without orientation, except the last point. The planner publishes the path as a nav_msgs::Path on the topic (global_planner_namespace)/plan


Originally posted by David Lu with karma: 10932 on 2014-07-28

This answer was ACCEPTED on the original site

Post score: 2

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