dwb_local_planner: debug_dwb_local

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00001 /*
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00034 
00035 #ifndef DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H
00036 #define DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H
00037 
00038 #include <dwb_local_planner/dwb_local_planner.h>
00039 #include <dwb_msgs/DebugLocalPlan.h>
00040 #include <dwb_msgs/GenerateTwists.h>
00041 #include <dwb_msgs/GenerateTrajectory.h>
00042 #include <dwb_msgs/ScoreTrajectory.h>
00043 #include <dwb_msgs/GetCriticScore.h>
00044 #include <string>
00045 
00046 namespace dwb_local_planner
00047 {
00048 
00054 class DebugDWBLocalPlanner: public DWBLocalPlanner
00055 {
00056 public:
00060   void initialize(const ros::NodeHandle& parent, const std::string& name,
00061                   TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override;
00062 protected:
00063   bool generateTwistsService(dwb_msgs::GenerateTwists::Request  &req,
00064                              dwb_msgs::GenerateTwists::Response &res);
00065   bool generateTrajectoryService(dwb_msgs::GenerateTrajectory::Request  &req,
00066                                  dwb_msgs::GenerateTrajectory::Response &res);
00067   bool scoreTrajectoryService(dwb_msgs::ScoreTrajectory::Request  &req,
00068                               dwb_msgs::ScoreTrajectory::Response &res);
00069   bool getCriticScoreService(dwb_msgs::GetCriticScore::Request  &req,
00070                              dwb_msgs::GetCriticScore::Response &res);
00071   bool debugLocalPlanService(dwb_msgs::DebugLocalPlan::Request  &req,
00072                              dwb_msgs::DebugLocalPlan::Response &res);
00073 
00074   TrajectoryCritic::Ptr getCritic(std::string name);
00075 
00076   ros::ServiceServer twist_gen_service_, generate_traj_service_, score_service_, critic_service_, debug_service_;
00077 };
00078 
00079 }  // namespace dwb_local_planner
00080 
00081 #endif  // DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H