<> == Documentation == This package contains a node, which receives the tuw_multi_robot_msgs/RouteSegment message for a robot and publishes a nav_msgs/Path up to the point a robot is allowed to move. A tuw_multi_robot_msgs/RouteSegment contains a set of segments, where each of them has preconditions to tell when a robot is allowed to enter a certain segment. The tuw_multi_robot_route_to_path_node subscribes to these messages and checks how many of these preconditions are met and publishes a path from start to the last segment, for which the preconditions are met. This node subscribes to all robots as one node for performance reasons while testing with a large number of robots. === Subscribed Topics === `[robot_name]/route` (`tuw_multi_robot_msgs/Route`) The segment path containing Preconditions `robot_info` (`tuw_multi_robot_msgs/RobotInfo`) Containes the pose of every robot used to determine the current segment on its path. === Published Topics === `[robot_name]/path` (`nav_msgs/Path`) A unsynchronized path to the last free segment. `robot_info` (`tuw_multi_robot::RobotInfo`) Publishes information to all robots used by the behavior planner. === Parameters === `~robot_names` (`string[]` default: "[robot_0]") Sets the prefixes for all topics (e.g.: /robot_0/route) `~robot_names_str` (`string` default: "") A string which overrides the robot_names array to prevent a method of giving the param over console. All robot names have to be seperated by ",". `~robot_radius` (`float[]` default: "[]") Sets the radius for a specific robot (matched to the robot in the robot_names list) `~robot_default_radius` (`float` default: "0.3") Sets the default radius used if no robot_radius is set for the specific robot `~path_topic` (`string` default: "path") The topic used for publishing an unsynchronized nav_msgs/Path for every robot. `~route_topic` (`string` default: "route") Topic containing the synchronized Route for every robot. == Report a Bug == <> ##i.e.<> ## AUTOGENERATED DON'T DELETE ## CategoryStack