Class MapServer

Defined in File map_server.hpp

Inheritance Relationships

Base Type

public nav2_util::LifecycleNode

Class Documentation

class MapServer : public nav2_util::LifecycleNode

Public Functions

explicit MapServer(const std::string &node_name)

Protected Functions

nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override

nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override

nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override

nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state) override

nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override

void cloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)

void convertCloud(const sensor_msgs::msg::PointCloud2::SharedPtr cloud)

Protected Attributes

rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr cloud_sub_

rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::OccupancyGrid>::SharedPtr grid_pub_

std::atomic<bool> active_ = {false}

std::string frame_id_

std::string topic_name_cloud_

nav_msgs::msg::OccupancyGrid grid_msg_

float grid_resolution_ = 0.0f

int measurement_contribution_ = 0