planner_node.cpp

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/*
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#include <ros/ros.h>
#include <pluginlib/class_loader.h>
#include <dwb_local_planner/debug_dwb_local_planner.h>
#include <tf2_ros/transform_listener.h>
#include <memory>
#include <string>
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "plan_node");
  ros::NodeHandle private_nh("~");
 
  dwb_local_planner::DebugDWBLocalPlanner planner;
  ROS_INFO("Plan Node");
 
  TFListenerPtr tf = std::make_shared<tf2_ros::Buffer>();
  tf2_ros::TransformListener tf2(*tf);
 
  pluginlib::ClassLoader<nav_core2::Costmap> costmap_loader("nav_core2", "nav_core2::Costmap");
  std::string costmap_class;
  private_nh.param("local_costmap_class", costmap_class, std::string("nav_core_adapter::CostmapAdapter"));
  nav_core2::Costmap::Ptr costmap = costmap_loader.createUniqueInstance(costmap_class);
  costmap->initialize(private_nh, "costmap", tf);
 
  planner.initialize(private_nh, "dwb_local_planner", tf, costmap);
  ros::spin();
}