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- uint64 time_stamp
- string task_name
- uint64 task_id
- #goal definition
- geometry_msgs/Pose2D[] goal
- float32[] towards
- float32[] limit_linear_x
- float32[] limit_linear_y
- float32[] limit_angular
- string nav_mode # "free_nav" "path_nav" "grid_nav"
- string grid_nav_mode # "step" "link"
- string obstacle_rule # "stop" "bypass"
- #运行参数
- float32 max_linear
- float32 max_linear_y
- float32 max_angular
- #到达精度
- float32 x_tolerate
- float32 y_tolerate
- float32 yaw_tolerate
- uint32 positive # 0: 正方向运行 1: 反方向运行
- #车体尺寸
- geometry_msgs/Point[] footprint
- #运动模型
- string drive
- #障碍物检测区域
- geometry_msgs/Point[] detetion_area
- ---
- #result definition
- int32 result # (>= 0 正常) (<0 异常中断)
- string type # "cancel" "done" "abort"
- ---
- #feedback
- uint64 time_stamp
- uint64 task_time_stamp
- string task_name
- int32 status
- int32 progress
- string info
- string addition_info
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