OctomapServer.h

Go to the documentation of this file.

#ifndef OCTOMAP_SERVER_OCTOMAP_SERVER
#define OCTOMAP_SERVER_OCTOMAP_SERVER

/*
 * Copyright (c) 2010, A. Hornung, University of Freiburg
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */


#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>
#include <std_msgs/ColorRGBA.h>
#include <mapping_msgs/CollisionObject.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_types.h>
#include <pcl/ros/conversions.h>
#include <pcl_ros/transforms.h>
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <octomap_ros/OctomapBinary.h>
#include <octomap_ros/GetOctomap.h>
#include <octomap_ros/OctomapROS.h>


namespace octomap {
        class OctomapServer{
        public:
                OctomapServer();
                virtual ~OctomapServer();
                bool serviceCallback(octomap_ros::GetOctomap::Request  &req,
                                octomap_ros::GetOctomap::Response &res);

                virtual void insertCloudCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud);
                
                bool loadInitialMap(const std::string& filename);

        protected:
                void connectCallback(const ros::SingleSubscriberPublisher& pub);
                std_msgs::ColorRGBA heightMapColor(double h) const;
                void publishMap(const ros::Time& rostime = ros::Time::now());
                void publishMarkers(const ros::Time& rostime = ros::Time::now());
                void publishPointCloud(const ros::Time& rostime = ros::Time::now());
                void publishCollisionObject(const ros::Time& rostime = ros::Time::now());
                ros::NodeHandle m_nh;
                ros::Publisher m_markerPub, m_binaryMapPub, m_pointCloudPub, m_collisionObjectPub;
                message_filters::Subscriber<sensor_msgs::PointCloud2>* m_pointCloudSub;
                tf::MessageFilter<sensor_msgs::PointCloud2>* m_tfPointCloudSub;
                ros::ServiceServer m_service;
                tf::TransformListener m_tfListener;

                OcTreeROS m_octoMap;
                double m_maxRange;
                std::string m_frameId;
                bool m_useHeightMap;
                std_msgs::ColorRGBA m_color;
                double m_colorFactor;
                double m_visMinZ;
                double m_visMaxZ;
        };
}


#endif

---

octomap_server
Author(s): Armin Hornung
autogenerated on Fri Jan 11 09:32:35 2013