debug_dwb_local_planner.h

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#ifndef DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H
#define DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H
 
#include <dwb_local_planner/dwb_local_planner.h>
#include <dwb_msgs/DebugLocalPlan.h>
#include <dwb_msgs/GenerateTwists.h>
#include <dwb_msgs/GenerateTrajectory.h>
#include <dwb_msgs/ScoreTrajectory.h>
#include <dwb_msgs/GetCriticScore.h>
#include <string>
 
namespace dwb_local_planner
{
 
class DebugDWBLocalPlanner: public DWBLocalPlanner
{
public:
  void initialize(const ros::NodeHandle& parent, const std::string& name,
                  TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override;
protected:
  bool generateTwistsService(dwb_msgs::GenerateTwists::Request  &req,
                             dwb_msgs::GenerateTwists::Response &res);
  bool generateTrajectoryService(dwb_msgs::GenerateTrajectory::Request  &req,
                                 dwb_msgs::GenerateTrajectory::Response &res);
  bool scoreTrajectoryService(dwb_msgs::ScoreTrajectory::Request  &req,
                              dwb_msgs::ScoreTrajectory::Response &res);
  bool getCriticScoreService(dwb_msgs::GetCriticScore::Request  &req,
                             dwb_msgs::GetCriticScore::Response &res);
  bool debugLocalPlanService(dwb_msgs::DebugLocalPlan::Request  &req,
                             dwb_msgs::DebugLocalPlan::Response &res);
 
  TrajectoryCritic::Ptr getCritic(std::string name);
 
  ros::ServiceServer twist_gen_service_, generate_traj_service_, score_service_, critic_service_, debug_service_;
};
 
}  // namespace dwb_local_planner
 
#endif  // DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H