Program Listing for File GridMapLoader.hpp

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/*
 * 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_