35 #ifndef NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H 36 #define NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H 59 bool makePlan(
const geometry_msgs::PoseStamped& start,
60 const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan)
override;
76 #endif // NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros) override
Load the nav_core2 global planner and initialize it.
std::shared_ptr< CostmapAdapter > costmap_adapter_
boost::shared_ptr< nav_core2::GlobalPlanner > planner_
pluginlib::ClassLoader< nav_core2::GlobalPlanner > planner_loader_
bool makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan) override
costmap_2d::Costmap2DROS * costmap_ros_
used for employing a nav_core2 global planner interface as a nav_core plugin, like in move_base...
std::shared_ptr< tf::TransformListener > TFListenerPtr