CriticsStats Message

Package: nav2_msgs
Category: Other Messages

Critics statistics message

Message Definition

Field Type Description
stamp builtin_interfaces/Time Critics statistics message
critics string[] Array of string values
changed bool[] Array of bool values
costs_sum float32[] Array of float32 values

Usage Examples

Python

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

class CriticsStatsPublisher(Node):
    def __init__(self):
        super().__init__('criticsstats_publisher')
        self.publisher = self.create_publisher(CriticsStats, 'criticsstats', 10)
        
    def publish_message(self):
        msg = CriticsStats()
        # Set msg.stamp as needed
        msg.critics = []  # Fill array as needed
        msg.changed = []  # Fill array as needed
        msg.costs_sum = []  # Fill array as needed
        self.publisher.publish(msg)

C++

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

class CriticsStatsPublisher : public rclcpp::Node
{
public:
    CriticsStatsPublisher() : Node("criticsstats_publisher")
    {
        publisher_ = create_publisher<nav2_msgs::msg::CriticsStats>("criticsstats", 10);
    }

    void publish_message()
    {
        auto msg = nav2_msgs::msg::CriticsStats();
        // Set msg.stamp as needed
        // Fill msg.critics array as needed
        // Fill msg.changed array as needed
        // Fill msg.costs_sum array as needed
        publisher_->publish(msg);
    }

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