global_planner_adapter2.cpp

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#include <nav_core_adapter/global_planner_adapter2.h>
#include <nav_core_adapter/costmap_adapter.h>
#include <nav_2d_utils/conversions.h>
#include <nav_2d_utils/tf_help.h>
#include <nav_core2/exceptions.h>
#include <pluginlib/class_list_macros.h>
#include <memory>
#include <string>
#include <vector>

namespace nav_core_adapter
{

GlobalPlannerAdapter2::GlobalPlannerAdapter2() :
  planner_loader_("nav_core", "nav_core::BaseGlobalPlanner")
{
}

void GlobalPlannerAdapter2::initialize(const ros::NodeHandle& parent, const std::string& name,
                                       TFListenerPtr tf, nav_core2::Costmap::Ptr costmap)
{
  costmap_ = costmap;
  std::shared_ptr<CostmapAdapter> ptr = std::static_pointer_cast<CostmapAdapter>(costmap);

  if (!ptr)
  {
    ROS_FATAL_NAMED("GlobalPlannerAdapter2",
                    "GlobalPlannerAdapter2 can only be used with the CostmapAdapter, not other Costmaps!");
    exit(EXIT_FAILURE);
  }
  costmap_ros_ = ptr->getCostmap2DROS();

  ros::NodeHandle planner_nh(parent, name);
  std::string planner_name;
  planner_nh.param("planner_name", planner_name, std::string("global_planner/GlobalPlanner"));
  ROS_INFO_NAMED("GlobalPlannerAdapter2", "Loading plugin %s", planner_name.c_str());
  planner_ = planner_loader_.createInstance(planner_name);
  planner_->initialize(planner_loader_.getName(planner_name), costmap_ros_);
}

nav_2d_msgs::Path2D GlobalPlannerAdapter2::makePlan(const nav_2d_msgs::Pose2DStamped& start,
                                                    const nav_2d_msgs::Pose2DStamped& goal)
{
  geometry_msgs::PoseStamped start3d = nav_2d_utils::pose2DToPoseStamped(start),
                             goal3d = nav_2d_utils::pose2DToPoseStamped(goal);
  std::vector<geometry_msgs::PoseStamped> plan;
  bool ret = planner_->makePlan(start3d, goal3d, plan);
  if (!ret)
  {
    throw nav_core2::PlannerException("Generic Global Planner Error");
  }
  return nav_2d_utils::posesToPath2D(plan);
}
}  // namespace nav_core_adapter


//  register this planner as a GlobalPlanner plugin
PLUGINLIB_EXPORT_CLASS(nav_core_adapter::GlobalPlannerAdapter2, nav_core2::GlobalPlanner)