Global planner integration

[B-Bhanu-Teja]

Hi, Can you please tell me how to integrate a global planner with AMSwarm?

[vivek-uka]

Can you provide more information on what exactly you want to achieve?

PS: if you have an Octomap and want to run a discrete planner, there is an incremental version of AMSwarm called AMSwarmX. Relevant files: run_grid_planner.cpp.