Program Listing for File FiltersDemo.hpp

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/*
 * FiltersDemo.hpp
 *
 *  Created on: Aug 16, 2017
 *      Author: Peter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 *
 */

#ifndef GRID_MAP_DEMOS__FILTERSDEMO_HPP_
#define GRID_MAP_DEMOS__FILTERSDEMO_HPP_

#include <grid_map_ros/grid_map_ros.hpp>

#include <filters/filter_chain.hpp>
#include <rclcpp/rclcpp.hpp>
#include <string>

namespace grid_map_demos
{

class FiltersDemo : public rclcpp::Node
{
public:
  FiltersDemo();

  virtual ~FiltersDemo();

  bool readParameters();

  void callback(const grid_map_msgs::msg::GridMap::SharedPtr message);

private:
  std::string inputTopic_;

  std::string outputTopic_;

  rclcpp::Subscription<grid_map_msgs::msg::GridMap>::SharedPtr subscriber_;

  rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr publisher_;

  filters::FilterChain<grid_map::GridMap> filterChain_;

  std::string filterChainParametersName_;
};

}  // namespace grid_map_demos
#endif  // GRID_MAP_DEMOS__FILTERSDEMO_HPP_