send_grid_cells_node.cpp
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "ros/ros.h"
00031 #include "nav_msgs/GridCells.h"
00032 #include "math.h"
00033 
00034 int main( int argc, char **argv )
00035 {
00036   ros::init( argc, argv, "send_grid_cells" );
00037 
00038   ros::NodeHandle nh;
00039 
00040   ros::Publisher pub = nh.advertise<nav_msgs::GridCells>("grid_cells", 100);
00041   ros::Rate loop_rate( 100 );
00042 
00043   nav_msgs::GridCells msg;
00044   int width = 500;
00045   int length = 500;
00046   msg.cells.resize( width * length );
00047   msg.header.frame_id = "base_link";
00048   msg.cell_width = .01;
00049   msg.cell_height = .01;
00050 
00051   int count = 0;
00052   while( ros::ok() )
00053   {
00054     for( int x = 0; x < width; x++ )
00055     {
00056       for( int y = 0; y < length; y++ )
00057       {
00058         geometry_msgs::Point & point = msg.cells[ x + y * width ];
00059         point.x = x / 100.0;
00060         point.y = y / 100.0;
00061         point.z = sin( x / 100.0 + y / 100.0 + count / 100.0 );
00062 //        point.z = ((x + y + count) % 100) / 100.0;
00063       }
00064     }
00065     msg.header.seq = count;
00066     msg.header.stamp = ros::Time::now();
00067 
00068     pub.publish( msg );
00069 
00070     ros::spinOnce();
00071     loop_rate.sleep();
00072     ++count;
00073   }
00074 }


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32