IsPathValid

Checks to see if the global path is valid. If there is an obstacle along the path, the condition returns FAILURE, otherwise it returns SUCCESS. Optionally checks specific costmap layers and can use a custom footprint for validation.

Input Ports

server_timeout

Type	Default
double	20.0

Description

Service response timeout (ms).

path

Type	Default
nav_msgs::msg::Path	N/A

Description

The global path to check for validity.

max_cost

Type	Default
unsigned int	254

Description

The maximum allowable cost for the path to be considered valid.

consider_unknown_as_obstacle

Type	Default
bool	false

Description

Whether to consider unknown cost (255) as obstacle.

layer_name

Type	Default
string	“”

Description

Name of the specific costmap layer to check against. If empty, checks against the full costmap.

footprint

Type	Default
string	“”

Description

Custom footprint specification as a bracketed array of arrays, e.g., “[[x1,y1],[x2,y2],…]”. If empty, uses the robot’s configured footprint.

check_full_path

Type	Default
bool	false

Description

Whether to check all poses in the path (true) or stop at the first invalid pose (false). When true, all collision poses are reported.

Output Ports

collision_poses

Type	Default
std::vector<geometry_msgs::msg::PoseStamped>	N/A

Description

Vector of poses in the path that are in collision or invalid. Empty if the path is valid.

Example

<IsPathValid
  server_timeout="10"
  path="{path}"
  max_cost="100"
  consider_unknown_as_obstacle="false"
  layer_name=""
  footprint=""
  check_full_path="false"
  collision_poses="{collision_poses}" />

With custom footprint:

<IsPathValid
  path="{path}"
  footprint="[[0.5,0.5],[0.5,-0.5],[-0.5,-0.5],[-0.5,0.5]]"
  collision_poses="{collision_poses}" />

Checking a specific costmap layer:

<IsPathValid
  path="{path}"
  layer_name="obstacle_layer"
  check_full_path="true"
  collision_poses="{collision_poses}" />