about meaning of planner in global_planner

asked 2014-07-08 01:43:11 -0600

Ken_in_JAPAN gravatar image

updated 2014-07-08 10:17:10 -0600

I'd like anyone to teach me what planner in global planner means.

CMakeLists.txt in global_planner has planner as add_executable and and target_link_libraries.

add_executable(planner
  src/plan_node.cpp
)
target_link_libraries(planner
  ${PROJECT_NAME}
  ${catkin_LIBRARIES}
)

PROJECT_NAME means project(global_planner).
CMakeLists.txt in Carrot_planner has carrot_planner as target_link_libraries.

add_library(carrot_planner src/carrot_planner.cpp)
target_link_libraries(carrot_planner
    ${catkin_LIBRARIES}
    )

Does it mean that I can use rosrun global_planner planner as global_planner has a plan_node.cpp.
and

int main(int argc, char** argv) {
    ros::init(argc, argv, "global_planner");

    tf::TransformListener tf(ros::Duration(10));
    costmap_2d::Costmap2DROS lcr("costmap", tf);
    global_planner::PlannerWithCostmap pppp("planner", &lcr);
    ros::spin();
    return 0;
}

Does this"planner" correspond with add_executable(planner src/plan_node.cpp ) ? Could anyone tell me about it? Thank you in advance!

following global_planner, I edited my code, compiling it. As the result, I got library and executable.

Linking CXX shared library /home/ken/catkin_ws/devel/lib/libompl_planner_rrt2.so
[100%] Built target ompl_planner_rrt2
Scanning dependencies of target planners
[100%] Building CXX object navigation/ompl_planner_rrt2/CMakeFiles/planners.dir/src/OMPLplan_node.cpp.o
Linking CXX executable /home/ken/catkin_ws/devel/lib/ompl_planner_rrt2/planners
[100%] Built target planners
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Comments

This is node, so I should execute rosrun ompl_planner_rrt2 planners.

Ken_in_JAPAN gravatar imageKen_in_JAPAN ( 2014-08-02 16:12:17 -0600 )edit