debug_dwb_local_planner.h
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34 
35 #ifndef DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H
36 #define DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H
37 
39 #include <dwb_msgs/DebugLocalPlan.h>
40 #include <dwb_msgs/GenerateTwists.h>
41 #include <dwb_msgs/GenerateTrajectory.h>
42 #include <dwb_msgs/ScoreTrajectory.h>
43 #include <dwb_msgs/GetCriticScore.h>
44 #include <string>
45 
46 namespace dwb_local_planner
47 {
48 
55 {
56 public:
60  void initialize(const ros::NodeHandle& parent, const std::string& name,
61  TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override;
62 protected:
63  bool generateTwistsService(dwb_msgs::GenerateTwists::Request &req,
64  dwb_msgs::GenerateTwists::Response &res);
65  bool generateTrajectoryService(dwb_msgs::GenerateTrajectory::Request &req,
66  dwb_msgs::GenerateTrajectory::Response &res);
67  bool scoreTrajectoryService(dwb_msgs::ScoreTrajectory::Request &req,
68  dwb_msgs::ScoreTrajectory::Response &res);
69  bool getCriticScoreService(dwb_msgs::GetCriticScore::Request &req,
70  dwb_msgs::GetCriticScore::Response &res);
71  bool debugLocalPlanService(dwb_msgs::DebugLocalPlan::Request &req,
72  dwb_msgs::DebugLocalPlan::Response &res);
73 
74  TrajectoryCritic::Ptr getCritic(std::string name);
75 
77 };
78 
79 } // namespace dwb_local_planner
80 
81 #endif // DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H
bool generateTwistsService(dwb_msgs::GenerateTwists::Request &req, dwb_msgs::GenerateTwists::Response &res)
bool generateTrajectoryService(dwb_msgs::GenerateTrajectory::Request &req, dwb_msgs::GenerateTrajectory::Response &res)
TrajectoryCritic::Ptr getCritic(std::string name)
std::shared_ptr< dwb_local_planner::TrajectoryCritic > Ptr
bool scoreTrajectoryService(dwb_msgs::ScoreTrajectory::Request &req, dwb_msgs::ScoreTrajectory::Response &res)
Plugin-based flexible local_planner.
bool debugLocalPlanService(dwb_msgs::DebugLocalPlan::Request &req, dwb_msgs::DebugLocalPlan::Response &res)
bool getCriticScoreService(dwb_msgs::GetCriticScore::Request &req, dwb_msgs::GetCriticScore::Response &res)
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 Wed Jun 26 2019 20:06:13