MapLanesDriver Class Reference

List of all members.

Public Member Functions
bool	buildRoadMap (void)
	MapLanesDriver ()
int	Setup (ros::NodeHandle node)
int	Shutdown (void)
void	Spin (void)
	~MapLanesDriver ()
Private Member Functions
void	markCar ()
	create marker for car pose.
void	processOdom (const nav_msgs::Odometry::ConstPtr &odomIn)
void	publishGlobalMap (void)
void	publishLocalMap (void)
void	publishMapCloud (ros::Publisher &pub, const art_msgs::ArtLanes &lane_data)
	Publish map point cloud.
void	publishMapMarks (ros::Publisher &pub, const std::string &map_name, ros::Duration life, const art_msgs::ArtLanes &lane_data)
	Publish map visualization markers.
Private Attributes
ros::Publisher	car_image_
sensor_msgs::PointCloud	cloud_msg_
std::string	frame_id_
	frame ID of map (default "/map")
Graph *	graph_
	graph object (used by MapLanes)
bool	initial_position_
	true if initial odometry received
MapLanes *	map_
	MapLanes object instance.
ros::Publisher	mapmarks_
visualization_msgs::MarkerArray	marks_msg_
nav_msgs::Odometry	odom_msg_
ros::Subscriber	odom_topic_
double	poly_size_
	maximum polygon size (m)
double	range_
	radius of local lanes to report (m)
std::string	rndf_name_
	Road Network Definition File name.
ros::Publisher	roadmap_cloud_
ros::Publisher	roadmap_global_
ros::Publisher	roadmap_local_

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Detailed Description

ROS node class for road map driver.

Definition at line 55 of file mapl.cc.

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Constructor & Destructor Documentation

MapLanesDriver::MapLanesDriver

(

void

)

constructor

Definition at line 117 of file mapl.cc.

MapLanesDriver::~MapLanesDriver

(

)

[inline]

Definition at line 61 of file mapl.cc.

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Member Function Documentation

bool MapLanesDriver::buildRoadMap

(

void

)

Build road map

Returns:

true if successful

Definition at line 509 of file mapl.cc.

void MapLanesDriver::markCar

(

)

[private]

create marker for car pose.

Parameters:

pub	topic to publish
markers	array to add car pose

Definition at line 158 of file mapl.cc.

void MapLanesDriver::processOdom

(

const nav_msgs::Odometry::ConstPtr &

odomIn

)

[private]

Handle odometry input

Definition at line 241 of file mapl.cc.

void MapLanesDriver::publishGlobalMap

(

void

)

[private]

Publish global road map

Definition at line 434 of file mapl.cc.

void MapLanesDriver::publishLocalMap

(

void

)

[private]

Publish current local road map

Definition at line 457 of file mapl.cc.

void MapLanesDriver::publishMapCloud	(	ros::Publisher &	pub,
		const art_msgs::ArtLanes &	lane_data
	)		[private]

Publish map point cloud.

Converts polygon data into point cloud for clearing the occupancy grid.

Parameters:

pub	topic to publish
lane_data	polygons to publish

Definition at line 259 of file mapl.cc.

void MapLanesDriver::publishMapMarks	(	ros::Publisher &	pub,
		const std::string &	map_name,
		ros::Duration	life,
		const art_msgs::ArtLanes &	lane_data
	)		[private]

Publish map visualization markers.

Converts polygon data into an array of rviz visualization markers.

Parameters:

pub	topic to publish
map_name	marker namespace
life	lifespan for these markers
lane_data	polygons to publish

Note:

Do not to send too much information to rviz every cycle. If it gets behind displaying them, it becomes unusable.

Definition at line 304 of file mapl.cc.

int MapLanesDriver::Setup

(

ros::NodeHandle

node

)

Set up ROS topics

Definition at line 199 of file mapl.cc.

int MapLanesDriver::Shutdown

(

void

)

Shutdown the driver

Definition at line 233 of file mapl.cc.

void MapLanesDriver::Spin

(

void

)

Spin function for driver thread

Definition at line 484 of file mapl.cc.

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Member Data Documentation

ros::Publisher MapLanesDriver::car_image_ [private]

Definition at line 99 of file mapl.cc.

sensor_msgs::PointCloud MapLanesDriver::cloud_msg_ [private]

Definition at line 105 of file mapl.cc.

std::string MapLanesDriver::frame_id_ [private]

frame ID of map (default "/map")

Definition at line 90 of file mapl.cc.

Graph* MapLanesDriver::graph_ [private]

graph object (used by MapLanes)

Definition at line 111 of file mapl.cc.

bool MapLanesDriver::initial_position_ [private]

true if initial odometry received

Definition at line 113 of file mapl.cc.

MapLanes* MapLanesDriver::map_ [private]

MapLanes object instance.

Definition at line 112 of file mapl.cc.

ros::Publisher MapLanesDriver::mapmarks_ [private]

Definition at line 98 of file mapl.cc.

visualization_msgs::MarkerArray MapLanesDriver::marks_msg_ [private]

Definition at line 109 of file mapl.cc.

nav_msgs::Odometry MapLanesDriver::odom_msg_ [private]

Definition at line 94 of file mapl.cc.

ros::Subscriber MapLanesDriver::odom_topic_ [private]

Definition at line 93 of file mapl.cc.

double MapLanesDriver::poly_size_ [private]

maximum polygon size (m)

Definition at line 88 of file mapl.cc.

double MapLanesDriver::range_ [private]

radius of local lanes to report (m)

Definition at line 87 of file mapl.cc.

std::string MapLanesDriver::rndf_name_ [private]

Road Network Definition File name.

Definition at line 89 of file mapl.cc.

ros::Publisher MapLanesDriver::roadmap_cloud_ [private]

Definition at line 101 of file mapl.cc.

ros::Publisher MapLanesDriver::roadmap_global_ [private]

Definition at line 96 of file mapl.cc.

ros::Publisher MapLanesDriver::roadmap_local_ [private]

Definition at line 97 of file mapl.cc.

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The documentation for this class was generated from the following file:

• mapl.cc