about meaning of planner in global_planner
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
This is node, so I should execute rosrun ompl_planner_rrt2 planners.