From 95cfe570a8dbdfe85d2dc45195e7d07112dedb8c Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Fri, 5 Feb 2021 10:44:08 +0100
Subject: [PATCH] Library changes updates
---
include/iri_opendrive_global_planner/opendrive_planner.h | 4 ++--
src/opendrive_planner.cpp | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/iri_opendrive_global_planner/opendrive_planner.h b/include/iri_opendrive_global_planner/opendrive_planner.h
index 52f5721..7c04585 100644
--- a/include/iri_opendrive_global_planner/opendrive_planner.h
+++ b/include/iri_opendrive_global_planner/opendrive_planner.h
@@ -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;
+ COpendriveRoadMap roadmap;
double angle_tol;
double dist_tol;
bool multi_hyp;
diff --git a/src/opendrive_planner.cpp b/src/opendrive_planner.cpp
index 6204324..0120635 100644
--- a/src/opendrive_planner.cpp
+++ b/src/opendrive_planner.cpp
@@ -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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