// generated from rosidl_adapter/resource/srv.idl.em
// with input from nav_msgs/srv/GetPlan.srv
// generated code does not contain a copyright notice

#include "geometry_msgs/msg/PoseStamped.idl"
#include "nav_msgs/msg/Path.idl"

module nav_msgs {
  module srv {
    @verbatim (language="comment", text=
      "Get a plan from the current position to the goal Pose")
    struct GetPlan_Request {
      @verbatim (language="comment", text=
        "The start pose for the plan")
      geometry_msgs::msg::PoseStamped start;

      @verbatim (language="comment", text=
        "The final pose of the goal position")
      geometry_msgs::msg::PoseStamped goal;

      @verbatim (language="comment", text=
        "If the goal is obstructed, how many meters the planner can" "\n"
        "relax the constraint in x and y before failing.")
      float tolerance;
    };
    @verbatim (language="comment", text=
      "Array of poses from start to goal if one was successfully found.")
    struct GetPlan_Response {
      nav_msgs::msg::Path plan;
    };
  };
};