.. _program_listing_file__tmp_ws_src_grid_map_grid_map_demos_include_grid_map_demos_OctomapToGridmapDemo.hpp:

Program Listing for File OctomapToGridmapDemo.hpp
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_demos_include_grid_map_demos_OctomapToGridmapDemo.hpp>` (``/tmp/ws/src/grid_map/grid_map_demos/include/grid_map_demos/OctomapToGridmapDemo.hpp``)

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

.. code-block:: cpp

   /*
    * OctomapToGridmapDemo.hpp
    *
    *  Created on: May 03, 2017
    *      Author: Jeff Delmerico
    *   Institute: University of Zürich, Robotics and Perception Group
    */
   
   #ifndef GRID_MAP_DEMOS__OCTOMAPTOGRIDMAPDEMO_HPP_
   #define GRID_MAP_DEMOS__OCTOMAPTOGRIDMAPDEMO_HPP_
   
   #include <grid_map_ros/grid_map_ros.hpp>
   #include <octomap_msgs/srv/get_octomap.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <string>
   
   namespace grid_map_demos
   {
   
   class OctomapToGridmapDemo : public rclcpp::Node
   {
   public:
     using GetOctomapSrv = octomap_msgs::srv::GetOctomap;
     using OctomapMessage = octomap_msgs::msg::Octomap;
   
     OctomapToGridmapDemo();
   
     virtual ~OctomapToGridmapDemo();
   
     bool readParameters();
   
     void convertAndPublishMap();
   
   private:
     rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr gridMapPublisher_;
   
     rclcpp::Publisher<OctomapMessage>::SharedPtr octomapPublisher_;
   
     grid_map::GridMap map_;
   
     std::string octomapServiceTopic_;
   
     rclcpp::Client<GetOctomapSrv>::SharedPtr client_;
   
     float minX_;
     float maxX_;
     float minY_;
     float maxY_;
     float minZ_;
     float maxZ_;
   };
   
   }  // namespace grid_map_demos
   #endif  // GRID_MAP_DEMOS__OCTOMAPTOGRIDMAPDEMO_HPP_