humanoid_planner_2d.cpp
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00001 /*
00002  * Copyright 2013 Armin Hornung, University of Freiburg
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *
00007  *     * Redistributions of source code must retain the above copyright
00008  *       notice, this list of conditions and the following disclaimer.
00009  *     * Redistributions in binary form must reproduce the above copyright
00010  *       notice, this list of conditions and the following disclaimer in the
00011  *       documentation and/or other materials provided with the distribution.
00012  *     * Neither the name of the University of Freiburg nor the names of its
00013  *       contributors may be used to endorse or promote products derived from
00014  *       this software without specific prior written permission.
00015  *
00016  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00017  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00018  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00019  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00020  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00021  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00022  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00023  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00024  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00026  * POSSIBILITY OF SUCH DAMAGE.
00027  */
00028 
00029 #include <ros/ros.h>
00030 #include <humanoid_planner_2d/SBPLPlanner2D.h>
00031 
00032 class SBPLPlanner2DNode{
00033 public:
00034   SBPLPlanner2DNode(){
00035     ros::NodeHandle nh;
00036 
00037     map_sub_ = nh.subscribe<nav_msgs::OccupancyGrid>("map", 1, &SBPLPlanner2D::mapCallback, &planner_);
00038     goal_sub_ = nh.subscribe<geometry_msgs::PoseStamped>("goal", 1, &SBPLPlanner2D::goalCallback, &planner_);
00039     start_sub_ = nh.subscribe<geometry_msgs::PoseWithCovarianceStamped>("initialpose", 1, &SBPLPlanner2D::startCallback, &planner_);
00040 
00041   };
00042 
00043   virtual ~SBPLPlanner2DNode(){};
00044 
00045 protected:
00046   SBPLPlanner2D planner_;
00047   ros::Subscriber map_sub_, goal_sub_, start_sub_;
00048 
00049 
00050 };
00051 
00052 int main(int argc, char** argv){
00053   ros::init(argc, argv, "humanoid_planner_2d");
00054 
00055   SBPLPlanner2DNode planner;
00056 
00057   ros::spin();
00058 
00059   return 0;
00060 }


humanoid_planner_2d
Author(s): Armin Hornung
autogenerated on Wed Aug 26 2015 11:54:26