# Get a path from start_pose or current position to the target pose

# Use start_pose or current position as the beginning of the path
bool use_start_pose

# The start pose for the path; optional, used if use_start_pose is true
geometry_msgs/PoseStamped start_pose

# The pose to achieve with the path
geometry_msgs/PoseStamped target_pose

# Planner to use; defaults to the first one specified on "planners" parameter
string planner

# use different slots for concurrency
uint8 concurrency_slot

# Optional: how many meters/radians away from the goal can end the created path. The final pose of the
# path must be within tolerance range (position and orientation) for MBF to return a success outcome.
bool tolerance_from_action
float32 dist_tolerance
float32 angle_tolerance

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# Predefined success codes:
uint8 SUCCESS         = 0
# 1..9 are reserved as plugin specific non-error results

# Possible error codes:
uint8 FAILURE         = 50  # Unspecified failure, only used for old, non-mfb_core based plugins
uint8 CANCELED        = 51  # The action has been canceled by a action client
uint8 INVALID_START   = 52  #
uint8 INVALID_GOAL    = 53
uint8 NO_PATH_FOUND   = 54
uint8 PAT_EXCEEDED    = 55
uint8 EMPTY_PATH      = 56
uint8 TF_ERROR        = 57
uint8 NOT_INITIALIZED = 58
uint8 INVALID_PLUGIN  = 59
uint8 INTERNAL_ERROR  = 60
uint8 OUT_OF_MAP      = 61
uint8 MAP_ERROR       = 62
uint8 STOPPED         = 63  # The planner execution has been stopped rigorously.

# 71..99 are reserved as plugin specific errors

uint32 outcome
string message

nav_msgs/Path path

float64 cost

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