Publish generated path to use for visualisation

2025-04-18 22:04:04 +02:00
parent ec831bd334
commit aeaf36fc2b
6 changed files with 12 additions and 2 deletions
--- a/mg_planner/include/mg_planner/mg_planner_node.hpp
+++ b/mg_planner/include/mg_planner/mg_planner_node.hpp
@ -12,6 +12,7 @@
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"

+#include "mg_msgs/msg/path.hpp"
 #include "mg_msgs/srv/calc_path.hpp"

 #define TREE_SIZE 9
@ -30,6 +31,7 @@ namespace mg {

      private:
        rclcpp::Service<mg_msgs::srv::CalcPath>::SharedPtr astar_service;
+        rclcpp::Publisher<mg_msgs::msg::Path>::SharedPtr   path_pub_;

        AStar           astar_;
        ObstacleManager obstacle_manager_;