.. _program_listing_file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_node_constants.h:

Program Listing for File node_constants.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_node_constants.h>` (``/tmp/ws/src/cartographer_ros/cartographer_ros/include/cartographer_ros/node_constants.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright 2016 The Cartographer Authors
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *      http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    */
   
   #ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_CONSTANTS_H
   #define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_CONSTANTS_H
   
   #include <string>
   #include <vector>
   
   namespace cartographer_ros {
   
   // Default topic names; expected to be remapped as needed.
   constexpr char kLaserScanTopic[] = "scan";
   constexpr char kMultiEchoLaserScanTopic[] = "echoes";
   constexpr char kPointCloud2Topic[] = "points2";
   constexpr char kImuTopic[] = "imu";
   constexpr char kOdometryTopic[] = "odom";
   constexpr char kNavSatFixTopic[] = "fix";
   constexpr char kLandmarkTopic[] = "landmark";
   constexpr char kFinishTrajectoryServiceName[] = "finish_trajectory";
   constexpr char kOccupancyGridTopic[] = "map";
   constexpr char kScanMatchedPointCloudTopic[] = "scan_matched_points2";
   constexpr char kSubmapListTopic[] = "submap_list";
   constexpr char kTrackedPoseTopic[] = "tracked_pose";
   constexpr char kSubmapQueryServiceName[] = "submap_query";
   constexpr char kTrajectoryQueryServiceName[] = "trajectory_query";
   constexpr char kStartTrajectoryServiceName[] = "start_trajectory";
   constexpr char kWriteStateServiceName[] = "write_state";
   constexpr char kGetTrajectoryStatesServiceName[] = "get_trajectory_states";
   constexpr char kReadMetricsServiceName[] = "read_metrics";
   constexpr char kTrajectoryNodeListTopic[] = "trajectory_node_list";
   constexpr char kLandmarkPosesListTopic[] = "landmark_poses_list";
   constexpr char kConstraintListTopic[] = "constraint_list";
   constexpr double kConstraintPublishPeriodSec = 0.5;
   constexpr double kTopicMismatchCheckDelaySec = 3.0;
   
   constexpr int kInfiniteSubscriberQueueSize = 0;
   constexpr int kLatestOnlyPublisherQueueSize = 1;
   
   // For multiple topics adds numbers to the topic name and returns the list.
   std::vector<std::string> ComputeRepeatedTopicNames(const std::string& topic,
                                                      int num_topics);
   
   }  // namespace cartographer_ros
   
   #endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_CONSTANTS_H