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


footstep_planner
Author(s): Johannes Garimort, Armin Hornung
autogenerated on Mon Oct 6 2014 00:41:41