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
62#ifdef HAVE_FAWKES_MSGS
63 bool use_rospub =
false;
75PLUGIN_DESCRIPTION(
"Graph-based local path planning")
Graph-based global path planning.
NavGraphPlugin(Configuration *config)
Constructor.
Publish navgaraph to ROS.
Thread to perform graph-based path planning.
Send Marker messages to rviz to show navgraph info.
Interface for configuration handling.
virtual bool get_bool(const char *path)=0
Get value from configuration which is of type bool.
Base class for exceptions in Fawkes.
ThreadList thread_list
Thread list member.
Configuration * config
Fawkes configuration.
void push_back(Thread *thread)
Add thread to the end.
Fawkes library namespace.