Ros node for GeometryMap. More...

#include <geometry_map_node.h>

Public Member Functions
bool	clearMap (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	Service callback for clearing the map.
void	dynReconfCallback (cob_3d_mapping_geometry_map::geometry_map_nodeConfig &config, uint32_t level)
	callback for dynamic reconfigure
	GeometryMapNode ()
	Constructor.
bool	getMap (cob_3d_mapping_msgs::GetGeometryMap::Request &req, cob_3d_mapping_msgs::GetGeometryMap::Response &res)
	Service callback for getting the map.
bool	modifyMap (cob_3d_mapping_msgs::ModifyMap::Request &req, cob_3d_mapping_msgs::ModifyMap::Response &res)
	service callback for modifying the map.
void	publishMap ()
	Map arrays are published.
bool	setMap (cob_3d_mapping_msgs::SetGeometryMap::Request &req, cob_3d_mapping_msgs::SetGeometryMap::Response &res)
	Service callback for setting the map.
void	shapeCallback (const cob_3d_mapping_msgs::ShapeArray::ConstPtr &sa)
	Callback for incoming shapes.
	~GeometryMapNode ()
Public Attributes
ros::NodeHandle	n_
	Cylinder primitives are published.
Protected Attributes
ros::ServiceServer	clear_map_server_
	The server for clearing the map.
dynamic_reconfigure::Server < cob_3d_mapping_geometry_map::geometry_map_nodeConfig >	config_server_
	Dynamic Reconfigure server.
bool	enable_cyl_
	If true , processing of cylinders is activated.
bool	enable_poly_
	If true , processing of polygons is activated.
GeometryMap	geometry_map_
	Map containing geometrys (polygons,cylinders)
ros::ServiceServer	get_map_server_
	The server for getting the map.
std::string	map_frame_id_
	Name of target frame.
ros::Publisher	map_pub_
	Publish Map array as shape message.
ros::ServiceServer	modify_map_server_
	The server for modifying the map.
ros::ServiceServer	set_map_server_
	The server for setting the map.
ros::Subscriber	shape_sub_
	Subscription to shape message to be processed.

Detailed Description

Ros node for GeometryMap.

Definition at line 88 of file geometry_map_node.h.

Constructor & Destructor Documentation

GeometryMapNode::GeometryMapNode ( )

Constructor.

Definition at line 77 of file geometry_map_node.cpp.

cob_3d_mapping::GeometryMapNode::~GeometryMapNode ( ) [inline]

brief Destructor

Definition at line 99 of file geometry_map_node.h.

Member Function Documentation

bool GeometryMapNode::clearMap	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)

Service callback for clearing the map.

Deletes 3d map of the environment.

Parameters:

req	The service request.
res	The service response.

Returns:: True, if clearing was successful.

Definition at line 147 of file geometry_map_node.cpp.

void GeometryMapNode::dynReconfCallback	(	cob_3d_mapping_geometry_map::geometry_map_nodeConfig &	config,
		uint32_t	level
	)

callback for dynamic reconfigure

everytime the dynamic reconfiguration changes this function will be called

Parameters:

config	data of configuration
level	bit descriptor which notifies which parameter changed

Returns:: nothing

Definition at line 90 of file geometry_map_node.cpp.

bool GeometryMapNode::getMap	(	cob_3d_mapping_msgs::GetGeometryMap::Request &	req,
		cob_3d_mapping_msgs::GetGeometryMap::Response &	res
	)

Service callback for getting the map.

Fills the service response of the GetGeometricMap service with the current map

Parameters:

req	The service request.
res	The service response.

Returns:: True, if getting was successful.

Definition at line 159 of file geometry_map_node.cpp.

bool GeometryMapNode::modifyMap	(	cob_3d_mapping_msgs::ModifyMap::Request &	req,
		cob_3d_mapping_msgs::ModifyMap::Response &	res
	)

service callback for modifying the map.

Modifies the map with the shapes in the service request, returns the modified map in the response.

Parameters:

req	The service request.
res	The service response.

Returns:: True, if modifying was successful.

Definition at line 218 of file geometry_map_node.cpp.

void GeometryMapNode::publishMap ( )

Map arrays are published.

Shape message is generated and published to specified topic.

Definition at line 267 of file geometry_map_node.cpp.

bool GeometryMapNode::setMap	(	cob_3d_mapping_msgs::SetGeometryMap::Request &	req,
		cob_3d_mapping_msgs::SetGeometryMap::Response &	res
	)

Service callback for setting the map.

Sets the map with the service request.

Parameters:

req	The service request.
res	The service response.

Returns:: True, if setting was successful.

Definition at line 188 of file geometry_map_node.cpp.

void GeometryMapNode::shapeCallback ( const cob_3d_mapping_msgs::ShapeArray::ConstPtr & sa )

Callback for incoming shapes.

Parameters:

sa	The incoming shape array.

Returns:: nothing

Definition at line 103 of file geometry_map_node.cpp.

Member Data Documentation

ros::ServiceServer cob_3d_mapping::GeometryMapNode::clear_map_server_ [protected]

The server for clearing the map.

Definition at line 220 of file geometry_map_node.h.

dynamic_reconfigure::Server<cob_3d_mapping_geometry_map::geometry_map_nodeConfig> cob_3d_mapping::GeometryMapNode::config_server_ [protected]

Dynamic Reconfigure server.

The dynamic reconfigure server.

Definition at line 231 of file geometry_map_node.h.

bool cob_3d_mapping::GeometryMapNode::enable_cyl_ [protected]

If true , processing of cylinders is activated.

Definition at line 225 of file geometry_map_node.h.

bool cob_3d_mapping::GeometryMapNode::enable_poly_ [protected]

If true , processing of polygons is activated.

Definition at line 226 of file geometry_map_node.h.

GeometryMap cob_3d_mapping::GeometryMapNode::geometry_map_ [protected]

Map containing geometrys (polygons,cylinders)

Definition at line 233 of file geometry_map_node.h.

ros::ServiceServer cob_3d_mapping::GeometryMapNode::get_map_server_ [protected]

The server for getting the map.

Definition at line 221 of file geometry_map_node.h.

std::string cob_3d_mapping::GeometryMapNode::map_frame_id_ [protected]

Name of target frame.

Definition at line 234 of file geometry_map_node.h.

ros::Publisher cob_3d_mapping::GeometryMapNode::map_pub_ [protected]

Publish Map array as shape message.

Definition at line 219 of file geometry_map_node.h.

ros::ServiceServer cob_3d_mapping::GeometryMapNode::modify_map_server_ [protected]

The server for modifying the map.

Definition at line 223 of file geometry_map_node.h.

ros::NodeHandle cob_3d_mapping::GeometryMapNode::n_

Cylinder primitives are published.

Visualization markers of Cylinder shapes are created and published. Polygon marker is filled out.

Note:: Method is not yet implemented.

Parameters:

[in]	p	Polygon, whose marker is to be filled.
[in]	m	Corresponding marker.
[out]	m_t	Filled marker. ShapeCluster marker is filled out.

Note:: Method is not yet implemented.

Parameters:

[in]	p	Cylinder, whose marker is to be filled.
[in]	m	Corresponding marker.
[out]	m_t	Filled marker. ShapeCluster marker is filled out.

Note:: Method is not yet implemented.

Parameters:

[in]	p	ShapeCluster, whose marker is to be filled.
[in]	m	Corresponding marker.
[out]	m_t	Filled marker. ROS node handle.

Definition at line 215 of file geometry_map_node.h.

ros::ServiceServer cob_3d_mapping::GeometryMapNode::set_map_server_ [protected]

The server for setting the map.

Definition at line 222 of file geometry_map_node.h.

ros::Subscriber cob_3d_mapping::GeometryMapNode::shape_sub_ [protected]

Subscription to shape message to be processed.

Definition at line 218 of file geometry_map_node.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation