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ros
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iri_opendrive_global_planner
Commits
95cfe570
Commit
95cfe570
authored
Feb 05, 2021
by
Fernando Herrero
Browse files
Library changes updates
parent
4ab2a40b
Changes
2
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include/iri_opendrive_global_planner/opendrive_planner.h
View file @
95cfe570
...
...
@@ -46,7 +46,7 @@
#include
<dynamic_reconfigure/server.h>
#include
<iri_opendrive_global_planner/OpendriveGlobalPlannerConfig.h>
#include
"road_map.h"
#include
"
opendrive_
road_map.h"
namespace
iri_opendrive_global_planner
{
...
...
@@ -118,7 +118,7 @@ class OpendriveGlobalPlanner : public nav_core::BaseGlobalPlanner
ros
::
Publisher
plan_pub_
;
bool
initialized_
;
CRoadMap
roadmap
;
C
Opendrive
RoadMap
roadmap
;
double
angle_tol
;
double
dist_tol
;
bool
multi_hyp
;
...
...
src/opendrive_planner.cpp
View file @
95cfe570
...
...
@@ -248,7 +248,7 @@ bool OpendriveGlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, c
for
(
unsigned
int
i
=
0
;
i
<
start_candidates
.
size
();
i
++
)
{
std
::
cout
<<
i
<<
". x: "
<<
start_candidates
[
i
].
pose
.
x
<<
", y:"
<<
start_candidates
[
i
].
pose
.
y
<<
", heading: "
<<
start_candidates
[
i
].
pose
.
heading
<<
std
::
endl
;
std
::
cout
<<
" road map node: "
<<
start_candidates
[
i
].
node_index
<<
" child: "
<<
start_candidates
[
i
].
child_index
<<
std
::
endl
;
//
std::cout << " road map node: " << start_candidates[i].node_index << " child: " << start_candidates[i].child_index << std::endl;
std
::
cout
<<
" distance from desired pose: "
<<
start_candidates
[
i
].
dist
<<
std
::
endl
;
}
yaw
=
tf2
::
getYaw
(
goal
.
pose
.
orientation
);
...
...
@@ -258,7 +258,7 @@ bool OpendriveGlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, c
for
(
unsigned
int
i
=
0
;
i
<
end_candidates
.
size
();
i
++
)
{
std
::
cout
<<
i
<<
". x: "
<<
end_candidates
[
i
].
pose
.
x
<<
", y:"
<<
end_candidates
[
i
].
pose
.
y
<<
", heading: "
<<
end_candidates
[
i
].
pose
.
heading
<<
std
::
endl
;
std
::
cout
<<
" road map node: "
<<
end_candidates
[
i
].
node_index
<<
" child: "
<<
end_candidates
[
i
].
child_index
<<
std
::
endl
;
//
std::cout << " road map node: " << end_candidates[i].node_index << " child: " << end_candidates[i].child_index << std::endl;
std
::
cout
<<
" distance from desired pose: "
<<
end_candidates
[
i
].
dist
<<
std
::
endl
;
}
this
->
roadmap
.
find_shortest_path
(
this
->
multi_hyp
);
...
...
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