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rayvburn / humap_local_planner

Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions
BSD 3-Clause "New" or "Revised" License
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move visualization-related publishers from `HuberoPlannerROS` to `Visualization` class #80

Open rayvburn opened 2 years ago

rayvburn commented 2 years ago 
    /// @section Publishers
    /// @brief Global plan publisher (for visualisation)
    ros::Publisher g_plan_pub_;
    /// @brief Local plan publisher (for visualisation)
    ros::Publisher l_plan_pub_;
    /// @brief Explored trajectories PCL publisher (for visualisation)
    ros::Publisher traj_pcl_pub_;
    /// @brief TTC trajectories PCL publisher (for visualisation)
    ros::Publisher ttc_pcl_pub_;
    /// @brief Publishes the potential field generated by the cost function, ref: base_local_planner::MapGridVisualizer
    ros::Publisher cost_grid_pcl_pub_;