void traj_cb(const occgrid_planner::TrajectoryConstPtr & msg) { frame_id_ = msg->header.frame_id; delay_ = 0.0; traj_.clear(); for (unsigned int i=0;i<msg->Ts.size();i++) { traj_.insert(Trajectory::value_type(msg->Ts[i].header.stamp.toSec(), msg->Ts[i])); } ROS_INFO("Trajectory received"); }