many_map_node.cpp

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/*
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#include <global_planner_tests/many_map_test_suite.h>
#include <pluginlib/class_loader.h>
#include <memory>
#include <string>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "plan");
  ros::NodeHandle private_nh("~");
  TFListenerPtr tf = std::make_shared<tf::TransformListener>(ros::Duration(10));

  pluginlib::ClassLoader<nav_core2::GlobalPlanner> global_planner_loader("nav_core2", "nav_core2::GlobalPlanner");

  std::string planner_name;
  private_nh.param("global_planner", planner_name, std::string("dlux_global_planner::DluxGlobalPlanner"));
  boost::shared_ptr<nav_core2::GlobalPlanner> global_planner = global_planner_loader.createInstance(planner_name);

  global_planner_tests::many_map_test_suite(*global_planner, tf, global_planner_loader.getName(planner_name),
                                            "package://global_planner_tests/config/standard_tests.yaml",
                                            true, true, false);

  return (0);
}