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Hello, I need to implement Dijkstra's algorithm on a Map I have.
Coding part of my problem is done, however I am having trouble saving the path in a geometry_msgs/PoseArray.
Let's say I have an array(in c++) named prev which stores the shortest path from source to destination.
How can I use this path to publish a PoseArray and then visualise it on rViz?
Assuming you included the header files correctly and got a working CMakeLists and a nodehandle (nh).
pose_array_pub = nh.advertise<geometry_msgs::PoseArray>("/my_pose_array", 1);
geometry_msgs::PoseArray my_pose_array;
my_pose_array.header.frame_id = "map"; // or other frame you wish to publish relative to.
std::vector<geometry_msgs::Pose> your_vector;
// push or insert to your vector
my_pose_array.poses = your_vector;
pose_array_pub.publish(my_pose_array);
You can otherwise manually push your pose array with e.g. my_pose_array.poses.push_back(my_pose)
Asked: 2019-12-08 15:09:38 -0500
Seen: 276 times
Last updated: Dec 08 '19
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