plan_node.cpp

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#include <global_planner/planner_core.h>
#include <navfn/MakeNavPlan.h>
#include <boost/shared_ptr.hpp>
#include <costmap_2d/costmap_2d_ros.h>
#include <tf2_ros/transform_listener.h>
 
namespace cm = costmap_2d;
namespace rm = geometry_msgs;
 
using std::vector;
using rm::PoseStamped;
using std::string;
using cm::Costmap2D;
using cm::Costmap2DROS;
 
namespace global_planner {
 
class PlannerWithCostmap : public GlobalPlanner {
    public:
        PlannerWithCostmap(string name, Costmap2DROS* cmap);
        bool makePlanService(navfn::MakeNavPlan::Request& req, navfn::MakeNavPlan::Response& resp);
 
    private:
        void poseCallback(const rm::PoseStamped::ConstPtr& goal);
        Costmap2DROS* cmap_;
        ros::ServiceServer make_plan_service_;
        ros::Subscriber pose_sub_;
};
 
bool PlannerWithCostmap::makePlanService(navfn::MakeNavPlan::Request& req, navfn::MakeNavPlan::Response& resp) {
    vector<PoseStamped> path;
 
    req.start.header.frame_id = "map";
    req.goal.header.frame_id = "map";
    bool success = makePlan(req.start, req.goal, path);
    resp.plan_found = success;
    if (success) {
        resp.path = path;
    }
 
    return true;
}
 
void PlannerWithCostmap::poseCallback(const rm::PoseStamped::ConstPtr& goal) {
    geometry_msgs::PoseStamped global_pose;
    cmap_->getRobotPose(global_pose);
    vector<PoseStamped> path;
    makePlan(global_pose, *goal, path);
}
 
PlannerWithCostmap::PlannerWithCostmap(string name, Costmap2DROS* cmap) :
        GlobalPlanner(name, cmap->getCostmap(), cmap->getGlobalFrameID()) {
    ros::NodeHandle private_nh("~");
    cmap_ = cmap;
    make_plan_service_ = private_nh.advertiseService("make_plan", &PlannerWithCostmap::makePlanService, this);
    pose_sub_ = private_nh.subscribe<rm::PoseStamped>("goal", 1, &PlannerWithCostmap::poseCallback, this);
}
 
} // namespace
 
int main(int argc, char** argv) {
    ros::init(argc, argv, "global_planner");
 
    tf2_ros::Buffer buffer(ros::Duration(10));
    tf2_ros::TransformListener tf(buffer);
 
    costmap_2d::Costmap2DROS lcr("costmap", buffer);
 
    global_planner::PlannerWithCostmap pppp("planner", &lcr);
 
    ros::spin();
    return 0;
}