Class PlannerTester

• Defined in File planner_tester.hpp

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class PlannerTester : public rclcpp::Node

Public Types

using ComputePathToPoseCommand = geometry_msgs::msg::PoseStamped

using ComputePathToPoseResult = nav_msgs::msg::Path

Public Functions

PlannerTester()

~PlannerTester()

void activate()

void deactivate()

void loadDefaultMap()

void loadSimpleCostmap(const nav2_util::TestCostmap &testCostmapType)

bool defaultPlannerTest(ComputePathToPoseResult &path, const double deviation_tolerance = 1.0)

bool defaultPlannerRandomTests(const unsigned int number_tests, const float acceptable_fail_ratio)

bool isPathValid(nav_msgs::msg::Path &path)