A ros service's request has too many arguments
I need to create a ros service server which could check whether the given path (which can be generated by path planner), collides with surrounding obstacles. Because the path consists of hundreds of way points, it's not friendly to initialize a service request that contain all these points, and then pass that to the server. Could someone give some advice on this situation. How to make it more user-friendly.
If the path is a
nav_msgs/Path
(or even a plain list ofgeometry_msgs/Pose(Stamped)
), then wouldn't the path be passed in a single field of the request msg?