Is it possible for the global planner in move_base to copy an already made plan?

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What I am able to do through Isaac is generate the plan as nav_msgs::Path. Is there a way to just send that to the local_planner directly (or through the global planner which should just copy it and send it)? If not I can try converting the plan to a std::vector<geometry_msgs::PoseStamped>... but then I don't really see how MakePlan() would just copy it

One suggestion would be to subscribe to the node that outputs the std::vector<geometry_msgs::posestamped> from the Isaac SDK, and set plan = the data of type std::vector<geometry_msgs::posestamped>. As you would see in move_base, the call to planner_->makePlan(), this happens 3 times.

https://github.com/ros-planning/navig...

In those instances, you can set the third argument, which is "global_plan" in 2 of the instances and just "plan" in one of the instances to be equal to the the data of type std::vector<geometry_msgs::posestamped> directly from the Isaac SDK.

I am personally not sure of how Isaac SDK interfaces with ROS but the most elegant way would be to make a service call to the Isaac SDK to obtain the data of type std::vector<geometry_msgs::posestamped> instead of using planner_->make_plan() in those 3 instances. In this way you override the usual way of making plans and use Isaac SDK's way instead

Mainly what happens is, Isaac appears as a node in ros that publishes and subscribes to topics... So I would have /plan coming from Isaac. When you say that you'd subscribe to the topic published by Isaac, which you recommend to be of type std::vector<geometry_msgs::PoseStamped> ... you're suggesting of doing that by editting the move_base code where the call planner_->makePlan() is happening? If I choose this way what would happen to the global_planner? Would it be bypassed? Or would I need to implement a global_planner of my own.

Regarding the more elegant suggestion, please if you could explain what you mean by "making a service call". Sorry, I am quite new to ROS in general, I really appreciate your guidance.

The how to is well explained here!

Yep it is well explained! The solution in this case shows you how to edit the global planner source code, so that when planner_->makePlan() is called the service call to your Isaac node is made

1. Edit the header of the source code of the global_planner package (this is the default global planner used in ROS 1), to add the name of your service. For example in line 186, add ros::ServiceClient isaac_plan_client; At the top of this same file write: #​include <custom_package custom_serv.h="">
2. Edit the cpp file to declare the service client, for example line 150 isaac_plan_client = n.serviceClient<custom_serv>("make_plan_isaac

1. call the service: by putting these 3 lines. custom_package::custom_serv variable; variable.data = true; isaac_plan_client.call(variable, returned_plan); Use returned_plan as the global plan. Here returned_plan should be of type std::vector<geometry_msgs::posestamped>
2. In your Isaac node, create the service server with the same name "make_plan_isaac" and return the std::vector<geometry_msgs::posestamped> plan

I am almost done implementing it. I am getting this error if you have any idea what's happening