• /cmd_vel (geometry_msgs/Twist)
  • velocity command
• ~<name>/candidate_trajectories (visualization_msgs/MarkerArray)
  • candidate trajectories
  • for visualization
• ~<name>/finish_flag (std_msgs/Bool)
  • this flag is true when the robot reaches the goal
• ~<name>/predict_footprints (visualization_msgs/MarkerArray)
  • predicted footprints on selected trajectory
  • for visualization
• ~<name>/selected_trajectory (visualization_msgs/Marker)
  • selected trajectory
  • for visualization

Subscribed Topics

Necessary topics

• /local_map (nav_msgs/OccupancyGrid)
  • robot-centered costmap
  • the cells with an occupancy probability of 100 are considered as obstacles
• /move_base_simple/goal (geometry_msgs/PoseStamped)
  • goal pose
• /odom (nav_msgs/Odometry)
  • robot's odometry

Optional Topics

• /dist_to_goal_th (std::msgs::Float64)
  • distance threshold to the goal for judging the goal is reached
  • If you want to change the distance threshold to the goal from the default value, publish the distance to this topic
• /scan (sensor_msgs/LaserScan)
  • laser scan data
  • Default input is /local_map
  • If laser scan is used, set USE_SCAN_AS_INPUT to true
• /footprint (geometry_msgs/PolygonStamped)
  • robot footprint
  • If robot footprint is used, set USE_FOOTPRINT to true
  • footprint_publisher node in amsl_navigation_utils repository publishes rectangular footprint
• /path (nav_msgs/Path)
  • a part of the global path (edge)
  • for path cost
  • Default evaluation does not use path cost
  • If path cost is used, set USE_PATH_COST to true
    • Give a part of the global path (edge)
• /target_velocity (geometry_msgs/Twist)
  • target velocity of the robot