Converting ompl path to geometry_msgs

asked 2016-10-20 09:13:22 -0500

RohitM gravatar image

I'm writing a global planner plugin for the navigation stack using RRT. I am using OMPL to implement the RRT code but the return type for the states of the path is: std::vector< base::State * > &. I want to convert it to the geometry_msgs format of ros. Does anyone know how to do this conversion?

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