39 int main(
int argc,
char** argv)
50 std::string costmap_class;
51 private_nh.
param(
"local_costmap_class", costmap_class, std::string(
"nav_core_adapter::CostmapAdapter"));
53 costmap->initialize(private_nh,
"costmap", tf);
55 planner.
initialize(private_nh,
"dwb_local_planner", tf, costmap);
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROSCPP_DECL void spin(Spinner &spinner)
int main(int argc, char **argv)
bool param(const std::string ¶m_name, T ¶m_val, const T &default_val) const
void initialize(const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override
Override the DWB constructor to also advertise the services.
A version of DWBLocalPlanner with ROS services for the major components.
std::shared_ptr< Costmap > Ptr
std::shared_ptr< tf::TransformListener > TFListenerPtr