| 36 | { |
| 37 | public: |
| 38 | void configure( |
| 39 | const rclcpp_lifecycle::LifecycleNode::WeakPtr & node, |
| 40 | std::string name, |
| 41 | std::shared_ptr<tf2_ros::Buffer> tf_buffer, |
| 42 | std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap) override |
| 43 | { |
| 44 | node_ = node; |
| 45 | |
| 46 | auto node_shared = node_.lock(); |
| 47 | if (!node_shared) { |
| 48 | throw std::runtime_error{"Could not acquire node."}; |
| 49 | } |
| 50 | |
| 51 | traj_viz_pub_ = node_shared->create_publisher<nav_msgs::msg::Path>( |
| 52 | "~/tracking_traj", |
| 53 | rclcpp::SystemDefaultsQoS()); |
| 54 | |
| 55 | // BEGIN STUDENT CODE |
| 56 | // END STUDENT CODE |
| 57 | } |
| 58 | |
| 59 | Eigen::Vector3d interpolateState(const rclcpp::Time time) |
| 60 | { |
nothing calls this directly
no outgoing calls
no test coverage detected