21 #ifndef _PLUGINS_NAVGRAPH_NAVGRAPH_ROSPUB_THREAD_H_
22 #define _PLUGINS_NAVGRAPH_NAVGRAPH_ROSPUB_THREAD_H_
24 #include <aspect/clock.h>
25 #include <aspect/configurable.h>
26 #include <aspect/logging.h>
27 #include <aspect/tf.h>
28 #include <core/threading/thread.h>
29 #include <fawkes_msgs/NavGraphGetPairwiseCosts.h>
30 #include <fawkes_msgs/NavGraphSearchPath.h>
31 #include <navgraph/aspect/navgraph.h>
32 #include <navgraph/navgraph.h>
33 #include <plugins/ros/aspect/ros.h>
34 #include <ros/publisher.h>
35 #include <ros/service_server.h>
66 void convert_nodes(
const std::vector<fawkes::NavGraphNode> &nodes,
67 std::vector<fawkes_msgs::NavGraphNode> & out);
69 bool svs_search_path_cb(fawkes_msgs::NavGraphSearchPath::Request & req,
70 fawkes_msgs::NavGraphSearchPath::Response &res);
71 bool svs_get_pwcosts_cb(fawkes_msgs::NavGraphGetPairwiseCosts::Request & req,
72 fawkes_msgs::NavGraphGetPairwiseCosts::Response &res);
75 std::string cfg_base_frame_;
76 std::string cfg_global_frame_;
79 ros::ServiceServer svs_search_path_;
80 ros::ServiceServer svs_get_pwcosts_;