used for employing a `nav_core2` global planner interface as a `nav_core` plugin, like in `move_base`. More...

Inheritance diagram for nav_core_adapter::GlobalPlannerAdapter:

Public Member Functions
	GlobalPlannerAdapter ()
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros) override
	Load the nav_core2 global planner and initialize it.
bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan) override
Protected Attributes
std::shared_ptr< CostmapAdapter >	costmap_adapter_
costmap_2d::Costmap2DROS *	costmap_ros_
ros::Publisher	path_pub_
boost::shared_ptr < nav_core2::GlobalPlanner >	planner_
pluginlib::ClassLoader < nav_core2::GlobalPlanner >	planner_loader_
TFListenerPtr	tf_

Detailed Description

used for employing a `nav_core2` global planner interface as a `nav_core` plugin, like in `move_base`.

Definition at line 52 of file global_planner_adapter.h.

Constructor & Destructor Documentation

nav_core_adapter::GlobalPlannerAdapter::GlobalPlannerAdapter ( )

Definition at line 47 of file global_planner_adapter.cpp.

void nav_core_adapter::GlobalPlannerAdapter::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[override, virtual]`

Load the nav_core2 global planner and initialize it.

Definition at line 55 of file global_planner_adapter.cpp.

bool nav_core_adapter::GlobalPlannerAdapter::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)		`[override, virtual]`