EdgeCost Message

Package: nav2_msgs
Category: Routing Messages

Cost information for route graph edges

Message Definition

Field Type Description
edgeid uint16 Edge cost to use with nav2_msgs/srv/DynamicEdges to adjust route edge costs
cost float32 Floating point numerical value

Usage Examples

Python

import rclpy
from rclpy.node import Node
from nav2_msgs.msg import EdgeCost

class EdgeCostPublisher(Node):
    def __init__(self):
        super().__init__('edgecost_publisher')
        self.publisher = self.create_publisher(EdgeCost, 'edgecost', 10)
        
    def publish_message(self):
        msg = EdgeCost()
        msg.edgeid = 0
        msg.cost = 0.0
        self.publisher.publish(msg)

C++

#include "rclcpp/rclcpp.hpp"
#include "nav2_msgs/msg/edge_cost.hpp"

class EdgeCostPublisher : public rclcpp::Node
{
public:
    EdgeCostPublisher() : Node("edgecost_publisher")
    {
        publisher_ = create_publisher<nav2_msgs::msg::EdgeCost>("edgecost", 10);
    }

    void publish_message()
    {
        auto msg = nav2_msgs::msg::EdgeCost();
        msg.edgeid = 0;
        msg.cost = 0.0;
        publisher_->publish(msg);
    }

private:
    rclcpp::Publisher<nav2_msgs::msg::EdgeCost>::SharedPtr publisher_;
};