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38 #include <navfn/MakeNavPlan.h>
39 #include <boost/shared_ptr.hpp>
47 using rm::PoseStamped;
58 bool makePlanService(MakeNavPlan::Request& req, MakeNavPlan::Response& resp);
70 vector<PoseStamped> path;
72 req.start.header.frame_id =
"map";
73 req.goal.header.frame_id =
"map";
74 bool success =
makePlan(req.start, req.goal, path);
75 resp.plan_found = success;
84 geometry_msgs::PoseStamped global_pose;
86 vector<PoseStamped> path;
102 int main (
int argc,
char** argv)
ros::Subscriber pose_sub_
ROSCPP_DECL void init(const M_string &remappings, const std::string &name, uint32_t options=0)
ServiceServer advertiseService(AdvertiseServiceOptions &ops)
void poseCallback(const rm::PoseStamped::ConstPtr &goal)
int main(int argc, char **argv)
Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a...
Subscriber subscribe(const std::string &topic, uint32_t queue_size, const boost::function< void(C)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints())
bool getRobotPose(geometry_msgs::PoseStamped &global_pose) const
ros::ServiceServer make_plan_service_
NavfnWithCostmap(string name, Costmap2DROS *cmap)
bool makePlanService(MakeNavPlan::Request &req, MakeNavPlan::Response &resp)
bool makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
Given a goal pose in the world, compute a plan.
navfn
Author(s): Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Mon Mar 6 2023 03:50:37