00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2017, Locus Robotics 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the copyright holder nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H 00036 #define NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H 00037 00038 #include <nav_core/base_global_planner.h> 00039 #include <nav_core2/global_planner.h> 00040 #include <nav_core_adapter/costmap_adapter.h> 00041 #include <pluginlib/class_loader.h> 00042 #include <string> 00043 #include <vector> 00044 00045 namespace nav_core_adapter 00046 { 00047 00052 class GlobalPlannerAdapter: public nav_core::BaseGlobalPlanner 00053 { 00054 public: 00055 GlobalPlannerAdapter(); 00056 00057 // Standard ROS Global Planner Interface 00058 void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) override; 00059 bool makePlan(const geometry_msgs::PoseStamped& start, 00060 const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) override; 00061 00062 protected: 00063 // Plugin handling 00064 pluginlib::ClassLoader<nav_core2::GlobalPlanner> planner_loader_; 00065 boost::shared_ptr<nav_core2::GlobalPlanner> planner_; 00066 ros::Publisher path_pub_; 00067 00068 TFListenerPtr tf_; 00069 00070 std::shared_ptr<CostmapAdapter> costmap_adapter_; 00071 costmap_2d::Costmap2DROS* costmap_ros_; 00072 }; 00073 00074 } // namespace nav_core_adapter 00075 00076 #endif // NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H