footstep_planner_node.cpp

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// -*- mode: c++ -*-
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#include "jsk_footstep_planner/footstep_planner.h"

#define DEBUG 0
#if DEBUG
#include <visualization_msgs/MarkerArray.h>
namespace jsk_footstep_planner
{
  extern ros::Publisher pub_debug_marker;
}
#endif
int main(int argc, char** argv)
{
  pcl::console::setVerbosityLevel(pcl::console::L_ERROR);
  ros::init(argc, argv, "footstep_planner");
  ros::NodeHandle pnh("~");
#if DEBUG
  jsk_footstep_planner::pub_debug_marker = pnh.advertise<visualization_msgs::MarkerArray>("debug_marker_array", 1);
#endif
  jsk_footstep_planner::FootstepPlanner planner(pnh);
  ros::spin();
}