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Hello I am following this tutorial to integrate my custom planner: http://wiki.ros.org/navigation/Tutori...
But, why there is no main() function as used in some ROS examples? which involves calling init and advertise as in this tutorial:
http://wiki.ros.org/ROS/Tutorials/Wri...
appreciate your help
There is no main in these cases because they are plugins (loaded by the pluginlib package), which are loaded by the move_base node (which has a main()). The move_base node then uses the C++ API of the planners.
To add to it, if you wanted to create a server from a plugin, you could instantiate it and create some publishers / subscribers to feed into from it (with a main).
I need a main() to randomly generate a start, goal, and store them in text file, and randomly generate obstacles and store them in the same text file as 2d arrray of 0s and 100s, then send this to makePlan
so, do I need to write a publisher node, and its main will publish to move_base node?
Asked: 2020-11-12 14:15:10 -0600
Seen: 135 times
Last updated: Nov 12 '20
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