global_planner_adapter.h

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#ifndef NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H
#define NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H
 
#include <nav_core/base_global_planner.h>
#include <nav_core2/global_planner.h>
#include <nav_core_adapter/costmap_adapter.h>
#include <pluginlib/class_loader.h>
#include <memory>
#include <string>
#include <vector>
 
namespace nav_core_adapter
{
 
class GlobalPlannerAdapter: public nav_core::BaseGlobalPlanner
{
public:
  GlobalPlannerAdapter();
 
  // Standard ROS Global Planner Interface
  void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) override;
  bool makePlan(const geometry_msgs::PoseStamped& start,
                const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) override;
 
protected:
  // Plugin handling
  pluginlib::ClassLoader<nav_core2::GlobalPlanner> planner_loader_;
  boost::shared_ptr<nav_core2::GlobalPlanner> planner_;
  ros::Publisher path_pub_;
 
  TFListenerPtr tf_;
 
  std::shared_ptr<CostmapAdapter> costmap_adapter_;
  costmap_2d::Costmap2DROS* costmap_ros_;
};
 
}  // namespace nav_core_adapter
 
#endif  // NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H