costmap_2d: costmap_2d: costmap_2d_publisher.h Source File

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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