Revision history [back]

You might want to modify and compile your own version of NavfnROS. Clone the navigation stack from github and search for

NavfnROS::getPlanFromPotential

Then look for the snippet below and modify it to publish your feedback!

if(!costmap_->worldToMap(wx, wy, mx, my)){
  //publish the feedback from here!
  ROS_WARN_THROTTLE(1.0, "The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal.");
  return false;
}