23 #include <core/plugin.h> 25 #include "navgraph_thread.h" 26 #ifdef HAVE_VISUALIZATION 27 # include "visualization_thread.h" 29 #ifdef HAVE_FAWKES_MSGS 30 # include "rospub_thread.h" 47 #ifdef HAVE_VISUALIZATION 50 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");
74 PLUGIN_DESCRIPTION(
"Graph-based local path planning")
Publish navgaraph to ROS.
Fawkes library namespace.
virtual bool get_bool(const char *path)=0
Get value from configuration which is of type bool.
Send Marker messages to rviz to show navgraph info.
Thread to perform graph-based path planning.
Graph-based global path planning.
Base class for exceptions in Fawkes.
NavGraphPlugin(Configuration *config)
Constructor.
Interface for configuration handling.