add advanced

advanced/local_planner/my_planner.cpp

@@ -0,0 +1,31 @@
+#include "my_planner.h"
+#include <pluginlib/class_list_macros.h>
+
+PLUGINLIB_EXPORT_CLASS( my_planner::MyPlanner, nav_core::BaseLocalPlanner)
+
+namespace my_planner 
+{
+    MyPlanner::MyPlanner()
+    {
+        setlocale(LC_ALL,"");
+    }
+    MyPlanner::~MyPlanner()
+    {}
+
+    void MyPlanner::initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros)
+    {
+        ROS_WARN("该我上场表演了！");
+    }
+    bool MyPlanner::setPlan(const std::vector<geometry_msgs::PoseStamped>& plan)
+    {
+        return true;
+    }
+    bool MyPlanner::computeVelocityCommands(geometry_msgs::Twist& cmd_vel)
+    {
+        return true;
+    }
+    bool MyPlanner::isGoalReached()
+    {
+        return false;
+    }
+} // namespace my_planner

advanced/local_planner/my_planner.h

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+#ifndef MY_PLANNER_H_
+#define MY_PLANNER_H_
+
+#include <ros/ros.h>
+#include <nav_core/base_local_planner.h>
+
+namespace my_planner 
+{
+    class MyPlanner : public nav_core::BaseLocalPlanner 
+    {
+        public:
+            MyPlanner();
+            ~MyPlanner();
+
+            void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros);
+            bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan);
+            bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel);
+            bool isGoalReached();
+    };
+} // namespace my_planner
+ 
+#endif // MY_PLANNER_H_

advanced/local_planner/my_planner_plugin.xml

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+<library path="lib/libmy_planner">
+ <class name="my_planner/MyPlanner" type="my_planner::MyPlanner" base_class_type="nav_core::BaseLocalPlanner">
+  <description>
+	 老子的规划器
+  </description>
+ </class>
+</library>

advanced/multi_agent/.gitignore

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+# Ignore everything in this directory
+*.bak