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00001 // SVN $HeadURL: http://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_navigation/footstep_planner/src/FootstepPlannerNode.cpp $ 00002 // SVN $Id: FootstepPlannerNode.cpp 3298 2012-09-28 11:37:38Z hornunga@informatik.uni-freiburg.de $ 00003 00004 /* 00005 * A footstep planner for humanoid robots 00006 * 00007 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg 00008 * http://www.ros.org/wiki/footstep_planner 00009 * 00010 * 00011 * This program is free software: you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation, version 3. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU General Public License for more details. 00019 * 00020 * You should have received a copy of the GNU General Public License 00021 * along with this program. If not, see <http://www.gnu.org/licenses/>. 00022 */ 00023 00024 #include <footstep_planner/FootstepPlannerNode.h> 00025 00026 namespace footstep_planner 00027 { 00028 FootstepPlannerNode::FootstepPlannerNode() 00029 { 00030 ros::NodeHandle nh; 00031 00032 // provide callbacks to interact with the footstep planner: 00033 ivGridMapSub = nh.subscribe<nav_msgs::OccupancyGrid>("map", 1, &FootstepPlanner::mapCallback, &ivFootstepPlanner); 00034 ivGoalPoseSub = nh.subscribe<geometry_msgs::PoseStamped>("goal", 1, &FootstepPlanner::goalPoseCallback, &ivFootstepPlanner); 00035 ivStartPoseSub = nh.subscribe<geometry_msgs::PoseWithCovarianceStamped>("initialpose", 1, &FootstepPlanner::startPoseCallback, &ivFootstepPlanner); 00036 00037 // service: 00038 ivFootstepPlanService = nh.advertiseService("plan_footsteps", &FootstepPlanner::planService, &ivFootstepPlanner); 00039 } 00040 00041 00042 FootstepPlannerNode::~FootstepPlannerNode() 00043 {} 00044 }