costmap_2d: costmap_2d_publisher.h Source File

00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of the Willow Garage nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef COSTMAP_COSTMAP_2D_PUBLISHER_H_
00038 #define COSTMAP_COSTMAP_2D_PUBLISHER_H_
00039 #include <ros/ros.h>
00040 #include <ros/console.h>
00041 #include <costmap_2d/costmap_2d.h>
00042 #include <nav_msgs/GridCells.h>
00043 #include <boost/thread.hpp>
00044 #include <tf/transform_datatypes.h>
00045 
00046 namespace costmap_2d {
00051   class Costmap2DPublisher {
00052     public:
00058       Costmap2DPublisher(ros::NodeHandle ros_node, double publish_frequency, std::string global_frame);
00059 
00063       ~Costmap2DPublisher();
00064 
00068       void publishFootprint();
00069 
00073       void publishCostmap();
00074 
00080       void updateCostmapData(const Costmap2D& costmap, 
00081           const std::vector<geometry_msgs::Point>& footprint = std::vector<geometry_msgs::Point>(),
00082           const tf::Stamped<tf::Pose>& global_pose = tf::Stamped<tf::Pose>());
00083 
00088       bool active() {return active_;}
00089 
00090     private:
00091       void mapPublishLoop(double frequency);
00092 
00093       std::string global_frame_;
00094       boost::thread* visualizer_thread_; 
00095       std::vector< std::pair<double, double> > raw_obstacles_, inflated_obstacles_, unknown_space_;
00096       boost::recursive_mutex lock_; 
00097       bool active_, new_data_;
00098       ros::Publisher obs_pub_, inf_obs_pub_, unknown_space_pub_, footprint_pub_;
00099       double resolution_, inscribed_radius_;
00100       std::vector<geometry_msgs::Point> footprint_;
00101       tf::Stamped<tf::Pose> global_pose_;
00102       bool visualizer_thread_shutdown_;
00103   };
00104 };
00105 #endif