global_planner.cpp

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#include "cb_base_navigation/global_planner/global_planner_interface.h"
 
#include <costmap_2d/costmap_2d_ros.h>
 
#include <ros/init.h>
#include <ros/duration.h>
 
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
 
int main(int argc, char** argv){
 
    ros::init(argc, argv, "cb_global_planner_interface");
 
    // Transform listener
    tf2_ros::Buffer buffer(ros::Duration(10));
    tf2_ros::TransformListener tf(buffer);
 
    // Setup the global costmap
    costmap_2d::Costmap2DROS costmap("global_costmap", buffer);
    costmap.start();
 
    // Create planner interface
    cb_global_planner::GlobalPlannerInterface gpi(&costmap, &buffer);
 
    // Spin :)
    ros::spin();
 
    return(0);
}