A global planner using a Roadmap graph
Is there a global planner in ROS1 that can deal with a predefined Roadmap graph to make the robot move on its edges. I think this would be a very useful thing but can not find anything in that area.
Is a Roadmap graph a specific data structure?
No. I mean just a generic geometric graph that is not a gridmap. For example from a 2D PRM etc. It would be good to use something existing like a Boost Graphs, Networkx or GraphML. And it would also be a good feature to get this graph via a topic (similar to the map topic, but a graph)