wrapper_global_planner.cpp
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
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33  * wrapper_global_planner.cpp
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35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
42 
43 namespace mbf_nav_core_wrapper
44 {
45 
46 uint32_t WrapperGlobalPlanner::makePlan(const geometry_msgs::PoseStamped &start,
47  const geometry_msgs::PoseStamped &goal,
48  double tolerance,
49  std::vector<geometry_msgs::PoseStamped> &plan,
50  double &cost,
51  std::string &message)
52 {
53 #if ROS_VERSION_MINIMUM(1, 12, 0) // if current ros version is >= 1.12.0
54  // Kinetic and beyond
55  bool success = nav_core_plugin_->makePlan(start, goal, plan, cost);
56 #else
57  // Indigo
58  bool success = nav_core_plugin_->makePlan(start, goal, plan);
59  cost = 0;
60 #endif
61  message = success ? "Plan found" : "Planner failed";
62  return success ? 0 : 50; // SUCCESS | FAILURE
63 }
64 
66 {
67  return false;
68 }
69 
70 void WrapperGlobalPlanner::initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros)
71 {
72  nav_core_plugin_->initialize(name, costmap_ros);
73 }
74 
76  : nav_core_plugin_(plugin)
77 {}
78 
80 {}
81 
82 }; /* namespace mbf_abstract_core */
virtual bool cancel()
Requests the planner to cancel, e.g. if it takes too much time.
virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan, double &cost, std::string &message)
Given a goal pose in the world, compute a plan.
virtual void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros)
Initialization function for the CostmapPlanner.
WrapperGlobalPlanner(boost::shared_ptr< nav_core::BaseGlobalPlanner > plugin)
Public constructor used for handling a nav_core-based plugin.
boost::shared_ptr< nav_core::BaseGlobalPlanner > nav_core_plugin_
virtual ~WrapperGlobalPlanner()
Virtual destructor for the interface.


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Tue Jun 18 2019 19:34:40