Path Planning/Rviz/nav stack
Hello,
I am running turtlebot on indigo (on ubuntu trusty) and wish to visually represent the robot's navigation path using a ring of LEDs. I have not been able to find the line(s) of code that represent the robot's planned path. Ideally I would like to reference this code to light the LEDs in a way that corresponds to the robots preferred heading. Does anyone know where in the nav stack or rviz this code is hiding?
Thank you for any help!
Peter