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Time stamps for the messages on /move_base/NavfnROS/plan

Hello,

I am using ROS navigation stack on a turtlebot. The plan is getting published on /move_base/NavfnROS/plan topic. The plan looked like the following:

header:    
 seq: 13
 stamp: 
    secs: 23
    nsecs: 700000000
 frame_id: "map"
poses: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 23
        nsecs: 700000000
      frame_id: "map"
    pose: 
      <current_pose>
  - 
    header: 
      seq: 0
      stamp: 
        secs: 23
        nsecs: 700000000
      frame_id: "map"
    pose: 
      <next_pose>
  .
  . 
  . 
    header: 
      seq: 0
      stamp: 
        secs: 23
        nsecs: 700000000
      frame_id: "map"
    pose: 
      <goal_pose>

As it can be seen, each of the poses have the same time stamp (the same as the message's header). However, I'd need to get the time stamp associated with each pose as well. Is there a way?

Asked by user1928 on 2022-07-15 08:08:42 UTC

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Answers

Short answer: No. NavFn is not a dynamically feasible planner, it has no idea about the dynamics or kinematic constraints on a vehicle to estimate the time differentials between poses. It only includes a timestamp at all because the nav_msgs/Path includes PoseStamped as the path points rather than simply Pose.

Asked by stevemacenski on 2022-07-15 15:10:06 UTC

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