Program Listing for File forward_global_planner.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <memory>
#include <string>
#include <nav2_core/global_planner.hpp>
#include <nav_msgs/msg/path.hpp>
#include <rclcpp/rclcpp.hpp>
namespace cl_nav2z
{
namespace forward_global_planner
{
class ForwardGlobalPlanner : public nav2_core::GlobalPlanner
{
public:
using Ptr = std::shared_ptr<ForwardGlobalPlanner>;
ForwardGlobalPlanner();
virtual ~ForwardGlobalPlanner();
void configure(
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, std::string name,
const std::shared_ptr<tf2_ros::Buffer> tf,
const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
virtual void cleanup();
virtual void activate();
virtual void deactivate();
virtual nav_msgs::msg::Path createPlan(
const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal);
private:
// rclcpp::Node::SharedPtr nh_;
rclcpp_lifecycle::LifecycleNode::SharedPtr nh_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> planPub_;
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
double skip_straight_motion_distance_; // meters
double puresSpinningRadStep_; // rads
std::string name_;
double transform_tolerance_;
std::shared_ptr<tf2_ros::Buffer> tf_;
};
} // namespace forward_global_planner
} // namespace cl_nav2z