.. _program_listing_file__tmp_ws_src_grid_map_grid_map_loader_include_grid_map_loader_GridMapLoader.hpp:

Program Listing for File GridMapLoader.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_loader_include_grid_map_loader_GridMapLoader.hpp>` (``/tmp/ws/src/grid_map/grid_map_loader/include/grid_map_loader/GridMapLoader.hpp``)

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

.. code-block:: cpp

   /*
    * GridMapLoader.hpp
    *
    *  Created on: Aug 24, 2015
    *      Author: Peter Fankhauser
    *   Institute: ETH Zurich, ANYbotics
    *
    */
   
   #ifndef GRID_MAP_LOADER__GRIDMAPLOADER_HPP_
   #define GRID_MAP_LOADER__GRIDMAPLOADER_HPP_
   
   // ROS
   #include <rclcpp/rclcpp.hpp>
   
   // Grid map
   #include <grid_map_ros/grid_map_ros.hpp>
   
   // STD
   #include <string>
   
   namespace grid_map_loader
   {
   
   class GridMapLoader : public rclcpp::Node
   {
   public:
     GridMapLoader();
   
     virtual ~GridMapLoader();
   
     bool readParameters();
   
     bool load();
   
     void publish();
   
   private:
     rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr publisher_;
   
     grid_map::GridMap map_;
   
     std::string filePath_;
   
     std::string bagTopic_;
   
     std::string publishTopic_;
   
     double durationInSec;
   
     bool qos_transient_local_;
   };
   
   }  // namespace grid_map_loader
   #endif  // GRID_MAP_LOADER__GRIDMAPLOADER_HPP_