global_planner_adapter2.h

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#ifndef NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H
#define NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H

#include <nav_core/base_global_planner.h>
#include <nav_core2/global_planner.h>
#include <pluginlib/class_loader.h>
#include <string>
#include <vector>

namespace nav_core_adapter
{

class GlobalPlannerAdapter2: public nav_core2::GlobalPlanner
{
public:
  GlobalPlannerAdapter2();

  // Nav Core 2 Global Planner Interface
  void initialize(const ros::NodeHandle& parent, const std::string& name,
                  TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override;
  nav_2d_msgs::Path2D makePlan(const nav_2d_msgs::Pose2DStamped& start,
                               const nav_2d_msgs::Pose2DStamped& goal) override;

protected:
  // Plugin handling
  pluginlib::ClassLoader<nav_core::BaseGlobalPlanner> planner_loader_;
  boost::shared_ptr<nav_core::BaseGlobalPlanner> planner_;

  costmap_2d::Costmap2DROS* costmap_ros_;
  nav_core2::Costmap::Ptr costmap_;
};

}  // namespace nav_core_adapter

#endif  // NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H