(ros/navigation) navigation导航中一些重要话题的来源和去路

(ros/navigation) navigation导航中一些重要话题的来源和去路，对理解程序有很大帮助

topic1:  cmd_vel
       Type: geometry_msgs/Twist

   Publishers:
   * /move_base  

Subscribers:
 * none


topic2:  /move_base/NavfnROS/plan
Type: nav_msgs/Path

Publishers:
 * /move_base  

Subscribers:
 * /rviz  


topic3:   /move_base/DWAPlannerROS/global_plan
Type: nav_msgs/Path

Publishers:
 * /move_base  

Subscribers:
 * /rviz  


topic4:  /move_base/DWAPlannerROS/local_plan
Type: nav_msgs/Path

Publishers:
 * /move_base  

Subscribers:
 * /rviz  

topic5:  /move_base/goal
Type: move_base_msgs/MoveBaseActionGoal

Publishers:
 * /move_base  

Subscribers:
 * /move_base 

topic6:   /move_base_simple/goal
Type: geometry_msgs/PoseStamped

Publishers:
 * /rviz  

Subscribers:
 * /move_base  
 * /rviz 
 
topic7:   /move_base/status
Type: actionlib_msgs/GoalStatusArray

Publishers:
 * /move_base  

topic8:   /tf
Type: tf2_msgs/TFMessage

Publishers:
 * /odometry  
 * /robot_tf_publisher
 * /amcl  

Subscribers:
 * /amcl  
 * /move_base  
 * /rviz  

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