Program Listing for File ImageToGridmapDemo.hpp

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/*
 * ImageToGridmapDemo.hpp
 *
 *  Created on: May 4, 2015
 *      Author: Martin Wermelinger
 *   Institute: ETH Zurich, ANYbotics
 *
 */

#ifndef GRID_MAP_DEMOS__IMAGETOGRIDMAPDEMO_HPP_
#define GRID_MAP_DEMOS__IMAGETOGRIDMAPDEMO_HPP_

// ROS
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>

#include <grid_map_ros/grid_map_ros.hpp>

#include <string>

namespace grid_map_demos
{

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

  virtual ~ImageToGridmapDemo();

  bool readParameters();

  void imageCallback(const sensor_msgs::msg::Image::SharedPtr msg);

private:
  rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr gridMapPublisher_;

  grid_map::GridMap map_;

  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr imageSubscriber_;

  std::string imageTopic_;

  double resolution_;

  double minHeight_;
  double maxHeight_;

  std::string mapFrameId_;

  bool mapInitialized_;
};

}  // namespace grid_map_demos
#endif  // GRID_MAP_DEMOS__IMAGETOGRIDMAPDEMO_HPP_