map_server Namespace Reference

Functions

void loadMapFromFile (nav_msgs::GetMap::Response *resp, const char *fname, double res, bool negate, double occ_th, double free_th, double *origin)

Function Documentation

void map_server::loadMapFromFile ( nav_msgs::GetMap::Response *  resp,
const char *  fname,
double  res,
bool  negate,
double  occ_th,
double  free_th,
double *  origin 
)

Read the image from file and fill out the resp object, for later use when our services are requested.

Parameters:
resp The map wil be written into here
fname The image file to read from
res The resolution of the map (gets stored in resp)
negate If true, then whiter pixels are occupied, and blacker pixels are free
occ_th Threshold above which pixels are occupied
free_th Threshold below which pixels are free
origin Triple specifying 2-D pose of lower-left corner of image
Exceptions:
std::runtime_error If the image file can't be loaded

Definition at line 55 of file image_loader.cpp.

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map_server
Author(s): Brian Gerkey, Tony Pratkanis
autogenerated on Fri Jan 11 09:51:11 2013