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Question related to PoseArray and it's implementation.

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?