#goal definition
geometry_msgs/PoseStamped goal
geometry_msgs/PoseStamped start
string planner_id
bool use_start # If false, use current robot pose as path start, if true, use start above instead
---
#result definition

# Error codes
# Note: The expected priority order of the errors should match the message order
uint16 NONE=0
uint16 UNKNOWN=200
uint16 INVALID_PLANNER=201
uint16 TF_ERROR=202
uint16 START_OUTSIDE_MAP=203
uint16 GOAL_OUTSIDE_MAP=204
uint16 START_OCCUPIED=205
uint16 GOAL_OCCUPIED=206
uint16 TIMEOUT=207
uint16 NO_VALID_PATH=208

nav_msgs/Path path
builtin_interfaces/Duration planning_time
uint16 error_code
string error_msg
---
#feedback definition