planner_node.cpp
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34 #include <ros/ros.h>
35 #include <pluginlib/class_loader.h>
37 #include <memory>
38 #include <string>
39 
40 int main(int argc, char** argv)
41 {
42  ros::init(argc, argv, "plan_node");
43  ros::NodeHandle private_nh("~");
44 
46  ROS_INFO("Plan Node");
47 
48  TFListenerPtr tf = std::make_shared<tf::TransformListener>();
49 
50  pluginlib::ClassLoader<nav_core2::Costmap> costmap_loader("nav_core2", "nav_core2::Costmap");
51  std::string costmap_class;
52  private_nh.param("local_costmap_class", costmap_class, std::string("nav_core_adapter::CostmapAdapter"));
53  nav_core2::Costmap::Ptr costmap = costmap_loader.createUniqueInstance(costmap_class);
54  costmap->initialize(private_nh, "costmap", tf);
55 
56  planner.initialize(private_nh, "dwb_local_planner", tf, costmap);
57  ros::spin();
58 }
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROSCPP_DECL void spin(Spinner &spinner)
int main(int argc, char **argv)
#define ROS_INFO(...)
bool param(const std::string &param_name, T &param_val, const T &default_val) const
void initialize(const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override
Override the DWB constructor to also advertise the services.
A version of DWBLocalPlanner with ROS services for the major components.
std::shared_ptr< Costmap > Ptr
std::shared_ptr< tf::TransformListener > TFListenerPtr


dwb_local_planner
Author(s): David V. Lu!!
autogenerated on Sun Jan 10 2021 04:08:34