many_map_node.cpp
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00001 /*
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00034 #include <global_planner_tests/many_map_test_suite.h>
00035 #include <pluginlib/class_loader.h>
00036 #include <string>
00037 
00038 int main(int argc, char** argv)
00039 {
00040   ros::init(argc, argv, "plan");
00041   ros::NodeHandle private_nh("~");
00042   TFListenerPtr tf = std::make_shared<tf::TransformListener>(ros::Duration(10));
00043 
00044   pluginlib::ClassLoader<nav_core2::GlobalPlanner> global_planner_loader("nav_core2", "nav_core2::GlobalPlanner");
00045 
00046   std::string planner_name;
00047   private_nh.param("global_planner", planner_name, std::string("dlux_global_planner::DluxGlobalPlanner"));
00048   boost::shared_ptr<nav_core2::GlobalPlanner> global_planner = global_planner_loader.createInstance(planner_name);
00049 
00050   global_planner_tests::many_map_test_suite(*global_planner, tf, global_planner_loader.getName(planner_name),
00051                                             "package://global_planner_tests/config/standard_tests.yaml",
00052                                             true, true, false);
00053 
00054   return (0);
00055 }


global_planner_tests
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autogenerated on Wed Jun 26 2019 20:09:34