used for employing a nav_core2
global planner interface as a nav_core
plugin, like in move_base
.
More...
#include <global_planner_adapter.h>
Public Member Functions | |
GlobalPlannerAdapter () | |
void | initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros) override |
Load the nav_core2 global planner and initialize it. More... | |
bool | makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan) override |
Public Member Functions inherited from nav_core::BaseGlobalPlanner | |
virtual bool | makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan, double &cost) |
virtual | ~BaseGlobalPlanner () |
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_ |
Additional Inherited Members | |
Protected Member Functions inherited from nav_core::BaseGlobalPlanner | |
BaseGlobalPlanner () | |
used for employing a nav_core2
global planner interface as a nav_core
plugin, like in move_base
.
Definition at line 53 of file global_planner_adapter.h.
nav_core_adapter::GlobalPlannerAdapter::GlobalPlannerAdapter | ( | ) |
Definition at line 48 of file global_planner_adapter.cpp.
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overridevirtual |
Load the nav_core2 global planner and initialize it.
Implements nav_core::BaseGlobalPlanner.
Definition at line 56 of file global_planner_adapter.cpp.
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overridevirtual |
Implements nav_core::BaseGlobalPlanner.
Definition at line 72 of file global_planner_adapter.cpp.
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protected |
Definition at line 71 of file global_planner_adapter.h.
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protected |
Definition at line 72 of file global_planner_adapter.h.
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protected |
Definition at line 67 of file global_planner_adapter.h.
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protected |
Definition at line 66 of file global_planner_adapter.h.
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protected |
Definition at line 65 of file global_planner_adapter.h.
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Definition at line 69 of file global_planner_adapter.h.