Sending my own path to ROS Navigation stack, Where can I locate the 'internal' nav_msgs/Path in the code?

edit

It's move_base.cpp.

Specifically, it is as follows.

if(!tc_->setPlan(*controller_plan_)){

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

controller_plan_'s definition is as follows.

std::vector<geometry_msgs::PoseStamped>* controller_plan_;

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

It is different from nav_msg/Path, but if you compare it to the definition of nav_msgs/Path, you will see that it passes the same information.

std_msgs/Header header
geometry_msgs/PoseStamped[] poses

ref : http://docs.ros.org/en/noetic/api/nav...