Add a-star based global planner

2025-04-17 19:24:19 +02:00
parent 0fffe915ca
commit ec831bd334
21 changed files with 686 additions and 0 deletions
--- a/mg_navigation/src/mg_navigation.cpp
+++ b/mg_navigation/src/mg_navigation.cpp
@ -50,9 +50,19 @@ namespace mg {
        tf2_buffer   = std::make_shared<tf2_ros::Buffer>(get_clock());
        tf2_listener = std::make_shared<tf2_ros::TransformListener>(*tf2_buffer);

+        path_buffer_ = std::make_shared<PathBuffer>(this);
+
        pub_twist = create_publisher<Geometry::TwistStamped>("diffdrive_controller/cmd_vel", 2);

        using namespace std::placeholders;
+
+        sv_move_global = rclcpp_action::create_server<MoveGlobal>(
+          this,
+          "MoveGlobal",
+          std::bind(&MgNavigationServer::handle_goal<MoveGlobal>, this, _1, _2, "MoveGlobal"),
+          std::bind(&MgNavigationServer::handle_cancel<MoveGlobal>, this, _1, "MoveGlobal"),
+          std::bind(&MgNavigationServer::handle_accepted<MoveGlobal>, this, _1, "MoveGlobal"));
+
        sv_move_point = rclcpp_action::create_server<MovePoint>(
          this,
          "MovePoint",