[ROS2][Nav2] Nav2 Planner Metrics

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Hello,

I am new to ROS and I don't know if this is the right place to ask about this. I did research but I couldn't find anything about how to calculate some planner metrics.

I would like to run a wide variety of planners SmacPlanner, A, Hybrid-A and varying some parameters while measuring the time to obtain the global path and its length. For now, I'm clueless about how to do it.

Additionally, I would like to set the initial pose and the goal pose programmatically so I can guarantee that the start and final poses are always the same. I do not have this precision using rviz commands. I tried publishing to the topic /initialpose with the following command but without success.

ros2 topic pub -1 /initialpose geometry_msgs/PoseWithCovarianceStamped '{ header: {stamp: {sec: 0, nanosec: 0}, frame_id: "map"}, pose: { pose: {position: {x: 10, y: 10.0, z: 00.0}, orientation: {w: 0.1}}, } }' Said that I have the following questions:

Is there a topic that I can subscribe in order to get those metrics (path length and average time to compute global path)? Is the initialpose the correct topic to publish this pose? Which topic can I use to publish the goal pose? I tried the /goal_pose but also without success.