9 #include "ROS_OMPL_Planner.hpp" 11 int main(
int argc,
char *argv[])
13 ros::init(argc, argv,
"offline_planner_with_services_R2");
14 ros::NodeHandle node_handler_;
15 ROS_INFO(
"%s: using OMPL version %s", ros::this_node::getName().c_str(), OMPL_VERSION);
16 ompl::msg::setLogLevel(ompl::msg::LOG_NONE);
18 std::string planning_dimension;
19 node_handler_.getParam(
"planning_dimension", planning_dimension);
22 if(planning_dimension.compare(
"2D")==0)
27 ros::Rate loop_rate(10);
30 if(! planner.getObstacleFlag())
43 ros::Rate loop_rate(10);
46 if(! planner.getObstacleFlag())
ROS implementation class for OMPL_Planner.