(ros/navigation) navigation导航中一些重要话题的来源和去路，对理解程序有很大帮助
topic1: cmd_vel
Type: geometry_msgs/Twist
Publishers:
* /move_base
Subscribers:
* none
topic2: /move_base/NavfnROS/plan
Type: nav_msgs/Path
Publishers:
* /move_base
Subscribers:
* /rviz
topic3: /move_base/DWAPlannerROS/global_plan
Type: nav_msgs/Path
Publishers:
* /move_base
Subscribers:
* /rviz
topic4: /move_base/DWAPlannerROS/local_plan
Type: nav_msgs/Path
Publishers:
* /move_base
Subscribers:
* /rviz
topic5: /move_base/goal
Type: move_base_msgs/MoveBaseActionGoal
Publishers:
* /move_base
Subscribers:
* /move_base
topic6: /move_base_simple/goal
Type: geometry_msgs/PoseStamped
Publishers:
* /rviz
Subscribers:
* /move_base
* /rviz
topic7: /move_base/status
Type: actionlib_msgs/GoalStatusArray
Publishers:
* /move_base
topic8: /tf
Type: tf2_msgs/TFMessage
Publishers:
* /odometry
* /robot_tf_publisher
* /amcl
Subscribers:
* /amcl
* /move_base
* /rviz
email: tongzhuodenilove@163.com
(ros/navigation) navigation导航中一些重要话题的来源和去路
原文：http://blog.csdn.net/w383117613/article/details/46635613
