global_planner_adapter.cpp

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#include <nav_core_adapter/global_planner_adapter.h>
#include <nav_core_adapter/costmap_adapter.h>
#include <nav_2d_utils/conversions.h>
#include <nav_2d_utils/tf_help.h>
#include <nav_core2/exceptions.h>
#include <pluginlib/class_list_macros.h>
#include <memory>
#include <string>
#include <vector>
 
namespace nav_core_adapter
{
 
GlobalPlannerAdapter::GlobalPlannerAdapter() :
  planner_loader_("nav_core2", "nav_core2::GlobalPlanner")
{
}
 
void GlobalPlannerAdapter::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros)
{
  costmap_ros_ = costmap_ros;
  costmap_adapter_ = std::make_shared<CostmapAdapter>();
  costmap_adapter_->initialize(costmap_ros);
 
  ros::NodeHandle private_nh("~");
  ros::NodeHandle adapter_nh("~/" + name);
  std::string planner_name;
  adapter_nh.param("planner_name", planner_name, std::string("dlux_global_planner::DluxGlobalPlanner"));
  ROS_INFO_NAMED("GlobalPlannerAdapter", "Loading plugin %s", planner_name.c_str());
  planner_ = planner_loader_.createInstance(planner_name);
  planner_->initialize(private_nh, planner_loader_.getName(planner_name), tf_, costmap_adapter_);
  path_pub_ = private_nh.advertise<nav_msgs::Path>("plan", 1);
}
 
bool GlobalPlannerAdapter::makePlan(const geometry_msgs::PoseStamped& start,
                                    const geometry_msgs::PoseStamped& goal,
                                    std::vector<geometry_msgs::PoseStamped>& plan)
{
  nav_2d_msgs::Pose2DStamped start2d = nav_2d_utils::poseStampedToPose2D(start),
                             goal2d = nav_2d_utils::poseStampedToPose2D(goal);
  try
  {
    nav_2d_msgs::Path2D path2d = planner_->makePlan(start2d, goal2d);
    nav_msgs::Path path = nav_2d_utils::pathToPath(path2d);
    plan = path.poses;
    path_pub_.publish(path);
    return true;
  }
  catch (nav_core2::PlannerException& e)
  {
    ROS_ERROR_NAMED("GlobalPlannerAdapter", "makePlan Exception: %s", e.what());
    return false;
  }
}
}  // namespace nav_core_adapter
 
 
//  register this planner as a BaseGlobalPlanner plugin
PLUGINLIB_EXPORT_CLASS(nav_core_adapter::GlobalPlannerAdapter, nav_core::BaseGlobalPlanner)