git commit -m "first commit"

navigations/dwb_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(dwb_msgs)
+
+find_package(catkin REQUIRED
+    COMPONENTS geometry_msgs nav_2d_msgs message_generation nav_msgs
+)
+
+add_message_files(FILES
+    CriticScore.msg
+    LocalPlanEvaluation.msg
+    Trajectory2D.msg
+    TrajectoryScore.msg
+)
+add_service_files(FILES
+    DebugLocalPlan.srv
+    GenerateTrajectory.srv
+    GenerateTwists.srv
+    GetCriticScore.srv
+    ScoreTrajectory.srv
+)
+generate_messages(DEPENDENCIES geometry_msgs nav_2d_msgs nav_msgs)
+
+catkin_package(
+    CATKIN_DEPENDS geometry_msgs message_runtime nav_2d_msgs nav_msgs
+)

navigations/dwb_msgs/msg/CriticScore.msg

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+# The result from one critic scoring a Twist.
+# Name of the critic
+string name
+# Score for the critic, not multiplied by the scale
+float32 raw_score
+# Scale for the critic, multiplied by the raw_score and added to the total score
+float32 scale

navigations/dwb_msgs/msg/LocalPlanEvaluation.msg

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+# Full Scoring for running the local planner
+
+# Header, used for timestamp
+Header header
+# All the trajectories evaluated and their scores
+TrajectoryScore[] twists
+# Convenience index of the best (lowest) score in the twists array
+uint16 best_index
+# Convenience index of the worst (highest) score in the twists array. Useful for scaling.
+uint16 worst_index

navigations/dwb_msgs/msg/Trajectory2D.msg

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+# For a given velocity command, the poses that the robot will go to in the allotted time.
+
+# Input Velocity
+nav_2d_msgs/Twist2D velocity
+
+# Poses the robot will go to, given our kinematic model
+geometry_msgs/Pose2D[] poses
+
+# Time difference between the current pose and the poses in the trajectory.
+# Parallel array to poses. Length should be the same.
+duration[] time_offsets

navigations/dwb_msgs/msg/TrajectoryScore.msg

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+# Complete scoring for a given twist.
+
+# The trajectory being scored
+Trajectory2D traj
+# The Scores for each of the critics employed
+CriticScore[] scores
+# Convenience member that totals the critic scores
+float32 total

navigations/dwb_msgs/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>dwb_msgs</name>
+  <version>0.3.0</version>
+  <description>Message/Service definitions specifically for the dwb_local_planner</description>
+
+  <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_2d_msgs</depend>
+  <depend>nav_msgs</depend>
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>message_runtime</build_export_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+</package>

navigations/dwb_msgs/srv/DebugLocalPlan.srv

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+# For a given pose velocity and global_plan, run the local planner and return full results
+nav_2d_msgs/Pose2DStamped pose
+nav_2d_msgs/Twist2D velocity
+nav_2d_msgs/Path2D global_plan
+nav_2d_msgs/Pose2DStamped goal
+---
+LocalPlanEvaluation results

navigations/dwb_msgs/srv/GenerateTrajectory.srv

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+# For a given start pose, velocity and desired velocity, generate which poses will be visited
+geometry_msgs/Pose2D start_pose
+nav_2d_msgs/Twist2D start_vel
+nav_2d_msgs/Twist2D cmd_vel
+---
+Trajectory2D traj

navigations/dwb_msgs/srv/GenerateTwists.srv

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+# For a given velocity, generate which twist commands will be evaluated
+nav_2d_msgs/Twist2D current_vel
+---
+nav_2d_msgs/Twist2D[] twists

navigations/dwb_msgs/srv/GetCriticScore.srv

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+nav_2d_msgs/Pose2DStamped pose
+nav_2d_msgs/Twist2D velocity
+nav_2d_msgs/Path2D global_plan
+nav_2d_msgs/Pose2DStamped goal
+Trajectory2D traj
+string critic_name
+---
+CriticScore score

navigations/dwb_msgs/srv/ScoreTrajectory.srv

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+nav_2d_msgs/Pose2DStamped pose
+nav_2d_msgs/Twist2D velocity
+nav_2d_msgs/Path2D global_plan
+nav_2d_msgs/Pose2DStamped goal
+Trajectory2D traj
+---
+TrajectoryScore score