global_planner_interface.h

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/*******************************
 *                             *
 *  Author: Rein Appeldoorn    *
 *  Date:   2013-03-06         *
 *                             *
 *******************************/
 
#ifndef cb_global_planner_GLOBAL_PLANNER_INTERFACE_
#define cb_global_planner_GLOBAL_PLANNER_INTERFACE_
 
#include "global_planner_plugin.h"
#include "visualization.h"
 
#include <cb_base_navigation_msgs/PositionConstraint.h>
#include <cb_base_navigation_msgs/OrientationConstraint.h>
#include <cb_base_navigation_msgs/LocalPlannerActionGoal.h>
#include <cb_base_navigation_msgs/CheckPlan.h>
#include <cb_base_navigation_msgs/GetPlan.h>
 
#include <geometry_msgs/PoseStamped.h>
 
#include <pluginlib/class_loader.h>
 
#include <ros/publisher.h>
#include <ros/service_server.h>
#include <ros/subscriber.h>
 
namespace costmap_2d {
class Costmap2DROS;
}
 
namespace tf2_ros {
class Buffer;
}
 
namespace cb_global_planner {
 
class GlobalPlannerInterface {
 
public:
 
    GlobalPlannerInterface(costmap_2d::Costmap2DROS* costmap, tf2_ros::Buffer* tf);
 
    ~GlobalPlannerInterface();
 
private:
 
    ros::ServiceServer get_plan_srv_, check_plan_srv_;
    bool getPlan(cb_base_navigation_msgs::GetPlanRequest& req, cb_base_navigation_msgs::GetPlanResponse& resp);
    bool checkPlan(cb_base_navigation_msgs::CheckPlanRequest& req, cb_base_navigation_msgs::CheckPlanResponse& resp);
 
    ros::Subscriber pose_sub_;
    void poseCallback(const geometry_msgs::PoseStampedConstPtr& pose);
    ros::Publisher plan_pub_;
 
    boost::shared_ptr<GlobalPlannerPlugin> global_planner_;
    pluginlib::ClassLoader<GlobalPlannerPlugin> gp_loader_;
 
    std::string robot_base_frame_, global_frame_;
    tf2_ros::Buffer* tf_;
 
    costmap_2d::Costmap2DROS* costmap_;
 
    Visualization vis_;
 
};
 
}
 
#endif