Route Message
Package: nav2_msgs
Category: Route/Planning Messages
Complete route definition with nodes and edges for graph-based navigation
Message Definition
| Field | Type | Description |
|---|---|---|
header |
std_msgs/Header |
Standard ROS header with timestamp and frame information |
route_cost |
float32 |
Total cost of the route |
nodes |
RouteNode[] |
Ordered set of nodes in the route |
edges |
RouteEdge[] |
Ordered set of edges connecting the nodes |
Related Messages
- RouteNode - Individual nodes in the route
- RouteEdge - Connections between route nodes
- All Route/Planning Messages
Usage Context
Represents complete planned routes for graph-based navigation systems, containing both waypoints and connections.