Published Topics

/cmd_vel (geometry_msgs/Twist)
- velocity command
~<name>/candidate_trajectories (visualization_msgs/MarkerArray)
- candidate trajectories
- for visualization
~<name>/finish_flag (std_msgs/Bool)
- this flag is true when the robot reaches the goal
~<name>/predict_footprints (visualization_msgs/MarkerArray)
- predicted footprints on selected trajectory
- for visualization
~<name>/selected_trajectory (visualization_msgs/Marker)
- selected trajectory
- for visualization

Subscribed Topics

Necessary topics

/local_map (nav_msgs/OccupancyGrid)
- robot-centered costmap
- the cells with an occupancy probability of 100 are considered as obstacles
/move_base_simple/goal (geometry_msgs/PoseStamped)
- goal pose
/odom (nav_msgs/Odometry)
- robot's odometry

Optional Topics

/dist_to_goal_th (std::msgs::Float64)
- distance threshold to the goal for judging the goal is reached
- If you want to change the distance threshold to the goal from the default value, publish the distance to this topic
/scan (sensor_msgs/LaserScan)
- laser scan data
- Default input is /local_map
- If laser scan is used, set USE_SCAN_AS_INPUT to true
/footprint (geometry_msgs/PolygonStamped)
- robot footprint
- If robot footprint is used, set USE_FOOTPRINT to true
- footprint_publisher node in amsl_navigation_utils repository publishes rectangular footprint
/path (nav_msgs/Path)
- a part of the global path (edge)
- for path cost
- Default evaluation does not use path cost
- If path cost is used, set USE_PATH_COST to true
  - Give a part of the global path (edge)
/target_velocity (geometry_msgs/Twist)
- target velocity of the robot