RouteNode Message

Package: nav2_msgs
Category: Routing Messages

Individual waypoint node in a route graph

Message Definition

Field Type Description
nodeid uint16 Integer numerical value
position geometry_msgs/Point Message field - see Nav2 documentation for specific usage details

Usage Examples

Python

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

class RouteNodePublisher(Node):
    def __init__(self):
        super().__init__('routenode_publisher')
        self.publisher = self.create_publisher(RouteNode, 'routenode', 10)
        
    def publish_message(self):
        msg = RouteNode()
        msg.nodeid = 0
        # Set msg.position as needed
        self.publisher.publish(msg)

C++

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

class RouteNodePublisher : public rclcpp::Node
{
public:
    RouteNodePublisher() : Node("routenode_publisher")
    {
        publisher_ = create_publisher<nav2_msgs::msg::RouteNode>("routenode", 10);
    }

    void publish_message()
    {
        auto msg = nav2_msgs::msg::RouteNode();
        msg.nodeid = 0;
        // Set msg.position as needed
        publisher_->publish(msg);
    }

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