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

(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  

 

 

原文地址：https://blog.youkuaiyun.com/w383117613/article/details/46635613