global_planner_adapter.cpp
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34 
38 #include <nav_2d_utils/tf_help.h>
39 #include <nav_core2/exceptions.h>
41 #include <memory>
42 #include <string>
43 #include <vector>
44 
45 namespace nav_core_adapter
46 {
47 
49  planner_loader_("nav_core2", "nav_core2::GlobalPlanner")
50 {
51 }
52 
56 void GlobalPlannerAdapter::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros)
57 {
58  costmap_ros_ = costmap_ros;
59  costmap_adapter_ = std::make_shared<CostmapAdapter>();
60  costmap_adapter_->initialize(costmap_ros);
61 
62  ros::NodeHandle private_nh("~");
63  ros::NodeHandle adapter_nh("~/" + name);
64  std::string planner_name;
65  adapter_nh.param("planner_name", planner_name, std::string("dlux_global_planner::DluxGlobalPlanner"));
66  ROS_INFO_NAMED("GlobalPlannerAdapter", "Loading plugin %s", planner_name.c_str());
67  planner_ = planner_loader_.createInstance(planner_name);
68  planner_->initialize(private_nh, planner_loader_.getName(planner_name), tf_, costmap_adapter_);
69  path_pub_ = private_nh.advertise<nav_msgs::Path>("plan", 1);
70 }
71 
72 bool GlobalPlannerAdapter::makePlan(const geometry_msgs::PoseStamped& start,
73  const geometry_msgs::PoseStamped& goal,
74  std::vector<geometry_msgs::PoseStamped>& plan)
75 {
76  nav_2d_msgs::Pose2DStamped start2d = nav_2d_utils::poseStampedToPose2D(start),
77  goal2d = nav_2d_utils::poseStampedToPose2D(goal);
78  try
79  {
80  nav_2d_msgs::Path2D path2d = planner_->makePlan(start2d, goal2d);
81  nav_msgs::Path path = nav_2d_utils::pathToPath(path2d);
82  plan = path.poses;
83  path_pub_.publish(path);
84  return true;
85  }
87  {
88  ROS_ERROR_NAMED("GlobalPlannerAdapter", "makePlan Exception: %s", e.what());
89  return false;
90  }
91 }
92 } // namespace nav_core_adapter
93 
94 
95 // register this planner as a BaseGlobalPlanner plugin
#define ROS_INFO_NAMED(name,...)
void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros) override
Load the nav_core2 global planner and initialize it.
void publish(const boost::shared_ptr< M > &message) const
boost::shared_ptr< nav_core2::GlobalPlanner > planner_
std::shared_ptr< CostmapAdapter > costmap_adapter_
PLUGINLIB_EXPORT_CLASS(BAGReader, nodelet::Nodelet)
nav_2d_msgs::Path2D pathToPath(const nav_msgs::Path &path)
pluginlib::ClassLoader< nav_core2::GlobalPlanner > planner_loader_
bool makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan) override
nav_2d_msgs::Pose2DStamped poseStampedToPose2D(const geometry_msgs::PoseStamped &pose)
bool param(const std::string &param_name, T &param_val, const T &default_val) const
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
virtual std::string getName(const std::string &lookup_name)
#define ROS_ERROR_NAMED(name,...)
used for employing a nav_core2 global planner interface as a nav_core plugin, like in move_base...


nav_core_adapter
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autogenerated on Sun Jan 10 2021 04:08:46