path_planning.h

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#ifndef RAPP_PATH_PLANNING_NODE
#define RAPP_PATH_PLANNING_NODE

#include "ros/ros.h"
#include "ros/package.h"
#include <navfn/MakeNavPlan.h>
#include <navfn/MakeNavPlanResponse.h>
#include <rapp_platform_ros_communications/PathPlanningRosSrv.h>
#include "rapp_platform_ros_communications/MapServerGetMapRosSrv.h"
#include "rapp_platform_ros_communications/Costmap2dRosSrv.h"
#include "rapp_platform_ros_communications/MapServerUploadMapRosSrv.h"
#include <signal.h>
#include <path_planning/path_planner.h>
//converting variables
#include <boost/lexical_cast.hpp>
// for service manager -> determine if service is active
#include <ros/service_manager.h>
//get rapp-platform home directory
#include <unistd.h>
#include <sys/types.h>
#include <pwd.h>

class PathPlanning
{
  public:

    PathPlanning(void);
    ~PathPlanning(void);
    bool uploadMapCallback(rapp_platform_ros_communications::MapServerUploadMapRosSrv::Request  &req,
                     rapp_platform_ros_communications::MapServerUploadMapRosSrv::Response &res);
    bool pathPlanningCallback(
      rapp_platform_ros_communications::PathPlanningRosSrv::Request& req,
      rapp_platform_ros_communications::PathPlanningRosSrv::Response& res
      );

  private:
    // The ROS node handle
    ros::NodeHandle nh_;
    // RAPP-platform home_dir
    const char *homedir;
    // The service server 
    ros::ServiceServer pathPlanningService_;
    ros::ServiceServer uploadMapService_;
    std::vector<ros::ServiceServer> pathPlanningThreadServices_;
    std::vector<pid_t> GP_pIDs;
    std::vector<pid_t> MS_pIDs;
    pid_t TP_pID;
    // Topic nomeclarure
    std::string pathPlanningTopic_;
    std::string uploadMapTopic_;
    int pathPlanningThreads_;
    double pose_dist_;
    std::vector<geometry_msgs::PoseStamped> new_path;
    PathPlanner path_planner_; 
};

#endif