feat: Add RefinePlan.srv (naturerobots#1)

brisa-robotics · Sep 11, 2020 · 326fa3d · 326fa3d
1 parent a1a3dc6
commit 326fa3d
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diff --git a/mbf_msgs/CMakeLists.txt b/mbf_msgs/CMakeLists.txt
@@ -18,6 +18,7 @@ add_service_files(
   FILES
   CheckPoint.srv
   CheckPose.srv
+  RefinePlan.srv
   CheckPath.srv
 )
 

diff --git a/mbf_msgs/srv/RefinePlan.srv b/mbf_msgs/srv/RefinePlan.srv
@@ -0,0 +1,12 @@
+#Plan to be refined considering possible obstacles along the path
+nav_msgs/Path plan
+
+# If the goal is obstructed, how many meters the planner can
+# relax the constraint in x and y before failing.
+float32 tolerance
+---
+#Refined plan
+nav_msgs/Path refined_plan
+
+#True if refining the given plan was possible, otherwise False
+bool success