mapl.cc File Reference

provide RNDF map lane boundaries for ART vehicle More...

#include <unistd.h>
#include <string.h>
#include <iostream>
#include <ros/ros.h>
#include <tf/tf.h>
#include <art_msgs/ArtHertz.h>
#include <sensor_msgs/PointCloud.h>
#include <nav_msgs/Odometry.h>
#include <visualization_msgs/MarkerArray.h>
#include <art_msgs/ArtLanes.h>
#include <art_map/Graph.h>
#include <art_map/MapLanes.h>
#include <art_map/RNDF.h>
#include <art_msgs/ArtVehicle.h>

Include dependency graph for mapl.cc:

Go to the source code of this file.

Classes
class	MapLanesDriver
Functions
int	main (int argc, char **argv)

---

Detailed Description

provide RNDF map lane boundaries for ART vehicle

Subscribes:

• odom [nav_msgs::Odometry] estimate of robot position and velocity.

Publishes:

• roadmap_global [art_msgs::ArtLanes] global road map lanes (latched topic)
• roadmap_local [art_msgs::ArtLanes] local area road map lanes
• visualization_marker_array [visualization_msgs::MarkerArray] markers for map visualization

Todo:

Provide centralized interface to allow map updates during operation. Could be done in maplanes or in a separate node that reads the RNDF and publishes the graph.

Author:

Jack O'Quin, Patrick Beeson

Definition in file mapl.cc.

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

main program

Definition at line 549 of file mapl.cc.