35 #ifndef NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H 36 #define NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H 59 nav_2d_msgs::Path2D
makePlan(
const nav_2d_msgs::Pose2DStamped& start,
60 const nav_2d_msgs::Pose2DStamped& goal)
override;
73 #endif // NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H
costmap_2d::Costmap2DROS * costmap_ros_
used for employing a nav_core global planner (such as navfn) as a nav_core2 plugin, like in locomotor.
boost::shared_ptr< nav_core::BaseGlobalPlanner > planner_
pluginlib::ClassLoader< nav_core::BaseGlobalPlanner > planner_loader_
void initialize(const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override
Load the nav_core global planner and initialize it.
nav_core2::Costmap::Ptr costmap_
nav_2d_msgs::Path2D makePlan(const nav_2d_msgs::Pose2DStamped &start, const nav_2d_msgs::Pose2DStamped &goal) override
std::shared_ptr< Costmap > Ptr
std::shared_ptr< tf::TransformListener > TFListenerPtr