gpt_node.cpp

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/*
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 *  Copyright (c) 2017, Locus Robotics
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#include <global_planner_tests/global_planner_tests.h>
#include <global_planner_tests/easy_costmap.h>
#include <pluginlib/class_loader.h>
#include <memory>
#include <string>
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "plan");
  ros::NodeHandle private_nh("~");
  TFListenerPtr tf = std::make_shared<tf2_ros::Buffer>();
 
  std::string map_filename;
  private_nh.param("map_filename", map_filename, std::string("package://global_planner_tests/maps/smile.png"));
  nav_core2::Costmap::Ptr global_costmap = std::make_shared<global_planner_tests::EasyCostmap>(map_filename);
 
  pluginlib::ClassLoader<nav_core2::GlobalPlanner> global_planner_loader("nav_core2", "nav_core2::GlobalPlanner");
 
  std::string planner_name;
  private_nh.param("global_planner", planner_name, std::string("dlux_global_planner::DluxGlobalPlanner"));
  boost::shared_ptr<nav_core2::GlobalPlanner> global_planner = global_planner_loader.createInstance(planner_name);
  global_planner->initialize(private_nh, global_planner_loader.getName(planner_name), tf, global_costmap);
 
  if (global_planner_tests::hasCompleteCoverage(*global_planner, *global_costmap, 10, true, true, false))
  {
    printf("PASSES\n");
  }
  else
  {
    printf("FAILS\n");
  }
 
  return (0);
}