Auto Ware 代码解析系列-astar_planner节点

节点的主函数代码如下：

int main(int argc, char **argv)
{
  ros::init(argc, argv, "velocity_set");

  ros::NodeHandle nh;
  ros::NodeHandle private_nh("~");

  bool use_crosswalk_detection;
  std::string points_topic;
  private_nh.param<bool>("use_crosswalk_detection", use_crosswalk_detection, true);
  private_nh.param<std::string>("points_topic", points_topic, "points_lanes");

  // class声明类
  CrossWalk crosswalk;
  VelocitySetPath vs_path;
  VelocitySetInfo vs_info;

  // velocity set subscriber
  ros::Subscriber waypoints_sub = nh.subscribe(