pose_array_from_path.cpp

#include "ros/ros.h"
#include "nav_msgs/Path.h"
#include "geometry_msgs/PoseArray.h"

ros::Publisher setPoseArrayPub;

void getPathCallback(const nav_msgs::Path event)
{
    geometry_msgs::PoseArray msg;

    msg.header.stamp = ros::Time::now();
    msg.header.frame_id = event.header.frame_id;

    //for(const std::vector<geometry_msgs::PoseStamped>::iterator it=event.poses.begin(); it != event.poses.end(); it++) {
    for(int i=0; i < event.poses.size(); i++) {
        msg.poses.push_back(event.poses.at(i).pose);
    }

    setPoseArrayPub.publish(msg);
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "pose_array_from_path");
    ros::NodeHandle roshandle;

    ros::Subscriber getPathSub = roshandle.subscribe("/path", 10, &getPathCallback);
    setPoseArrayPub = roshandle.advertise<geometry_msgs::PoseArray>("pose_array", 10);
    
    ros::spin();
        
    return 0;
}