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.
Definition in file mapl.cc.