Toponav 2 issue: Mapping from the pose field in the tmap to a ROS msg

[adambinch]

In toponav 2 we want to be able to use any type of goals (not just move base type). Therefore in the new map format, for an edge, there is a new goal field which sets the args (e.g. target_pose) for the goal. Toponav 2 will allow you to pass properties of the node to the goal like this

    goal:
      target_pose: $node.pose

However, the target pose required by most goals seems to be of geometry_msgs/PoseStamped type, where as the pose in the tmap maps to a geometry_msgs/Pose msg. To avoid hard coding this mapping, we could use a new arg in the tmap

pose_msg: `geometry_msgs/PoseStamped`

[Jailander]

or even better do something like this:

target_pose:
  pose: $node.pose

What do you think?

Using other fields as default, or you can do:

target_pose:
  pose: $node.pose
  header: 
    frame_id: $self.frame_id

[adambinch]

Yep went for your suggestion @Jailander . Done.