nav_msgs/Path vs geometry_msgs/PoseArray - why the additional headers?

asked 2018-08-06 04:23:44 -0500

moooeeeep gravatar image

updated 2018-08-06 04:26:49 -0500

I've noticed that the only difference in nav_msgs/Path and geometry_msgs/PoseArray is that the former uses geometry_msgs/PoseStamped instead of geometry_msgs/Pose for the array of poses.

I'd like to know, what is the purpose of the additional headers? Shouldn't they all contain the same data (timestamp and frame_id) ?

When should I publish my poses as Path, and when is it enough to provide a PoseArray ? (Does it only depend on the API of the potential subscriber that I am targeting?)

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