Fawkes API
Fawkes Development Version
|
23 #include "navgraph_thread.h"
25 #include <core/plugin.h>
26 #ifdef HAVE_VISUALIZATION
27 # include "visualization_thread.h"
29 #ifdef HAVE_FAWKES_MSGS
30 # include "rospub_thread.h"
46 #ifdef HAVE_VISUALIZATION
49 use_vis = config->
get_bool(
"/navgraph/visualization/enable");
55 thread_list.push_back(vt);
62 #ifdef HAVE_FAWKES_MSGS
63 bool use_rospub =
false;
65 use_rospub = config->
get_bool(
"/navgraph/ros-publishing/enable");
75 PLUGIN_DESCRIPTION(
"Graph-based local path planning")
virtual bool get_bool(const char *path)=0
Get value from configuration which is of type bool.
NavGraphPlugin(Configuration *config)
Constructor.
Interface for configuration handling.
Send Marker messages to rviz to show navgraph info.
Fawkes library namespace.
Publish navgaraph to ROS.
Thread to perform graph-based path planning.
Graph-based global path planning.
Base class for exceptions in Fawkes.