/usr/share/nav_msgs/srv/GetPlan.srv is in ros-nav-msgs 1.12.5-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 | # Get a plan from the current position to the goal Pose
# The start pose for the plan
geometry_msgs/PoseStamped start
# The final pose of the goal position
geometry_msgs/PoseStamped goal
# If the goal is obstructed, how many meters the planner can
# relax the constraint in x and y before failing.
float32 tolerance
---
nav_msgs/Path plan
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