rostopic echo /mapf_base/global_plan

makespan: 7
global_plan: 
  - 
    time_step: [0, 1, 2, 3, 4, 5, 6]
    plan: 
      header: 
        seq: 0
        stamp: 
          secs: 3238
          nsecs: 426000000
        frame_id: "map"
      poses: 
        - 
          header: 
            seq: 0
            stamp: 
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              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
              x: -0.13295500000000082
              y: 0.2752909999999993
              z: 0.0
            orientation: 
              x: 0.0
              y: 0.0
              z: 0.0
              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
              secs: 0
              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
              x: 0.8670449999999992
              y: 0.2752909999999993
              z: 0.0
            orientation: 
              x: 0.0
              y: 0.0
              z: 0.0
              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
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              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
              x: 1.8670449999999992
              y: 0.2752909999999993
              z: 0.0
            orientation: 
              x: 0.0
              y: 0.0
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              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
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              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
              x: 2.867044999999999
              y: 0.2752909999999993
              z: 0.0
            orientation: 
              x: 0.0
              y: 0.0
              z: 0.0
              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
              secs: 0
              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
              x: 2.867044999999999
              y: -0.7247090000000007
              z: 0.0
            orientation: 
              x: 0.0
              y: 0.0
              z: 0.0
              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
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              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
              x: 2.867044999999999
              y: -1.7247090000000007
              z: 0.0
            orientation: 
              x: 0.0
              y: 0.0
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              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
              secs: 3077
              nsecs: 167000000
            frame_id: "map"
          pose: 
            position: 
              x: 3.1038074493408203
              y: -2.764863967895508
              z: 0.0
            orientation: 
              x: 0.0
              y: 0.0
              z: -0.562043499121652
              w: 0.8271076744264253
  - 
    time_step: [0, 1, 2, 3, 4, 5, 6]
    plan: 
      header: 
        seq: 0
        stamp: 
          secs: 3238
          nsecs: 426000000
        frame_id: "map"
      poses: 
        - 
          header: 
            seq: 0
            stamp: 
              secs: 0
              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
              x: -4.132955000000001
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              z: 0.0
            orientation: 
              x: 0.0
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              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
              secs: 0
              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
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              y: 0.2752909999999993
              z: 0.0
            orientation: 
              x: 0.0
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              z: 0.0
              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
              secs: 0
              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
              x: -6.132955000000001
              y: 0.2752909999999993
              z: 0.0
            orientation: 
              x: 0.0
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              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
              secs: 0
              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
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              z: 0.0
            orientation: 
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              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
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              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
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              z: 0.0
            orientation: 
              x: 0.0
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              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
              secs: 0
              nsecs:         0
            frame_id: "map"
          pose: 
            position: 
              x: -9.132955
              y: 0.2752909999999993
              z: 0.0
            orientation: 
              x: 0.0
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              z: 0.0
              w: 1.0
        - 
          header: 
            seq: 0
            stamp: 
              secs: 3078
              nsecs: 812000000
            frame_id: "map"
          pose: 
            position: 
              x: -9.74650764465332
              y: 0.7126016616821289
              z: 0.0
            orientation: 
              x: 0.0
              y: 0.0
              z: 0.7410151549148318
              w: 0.6714883023452812
---