footprint_layer.h

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#ifndef COSTMAP_2D_FOOTPRINT_LAYER_H_
#define COSTMAP_2D_FOOTPRINT_LAYER_H_

#include <ros/ros.h>
#include <costmap_2d/layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/costmap_math.h>
#include <costmap_2d/GenericPluginConfig.h>
#include <dynamic_reconfigure/server.h>
#include <nav_msgs/OccupancyGrid.h>
#include <geometry_msgs/Polygon.h>
#include <geometry_msgs/PolygonStamped.h>

namespace costmap_2d
{

class FootprintLayer : public Layer
{
public:
  virtual void onInitialize();
  virtual ~FootprintLayer();

  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, double* max_x,
                             double* max_y);
  virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);

private:
  geometry_msgs::PolygonStamped footprint_; 
  void publishFootprint();
  void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
  ros::Publisher footprint_pub_;
  dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
};

}  // namespace costmap_2d

#endif  // COSTMAP_2D_FOOTPRINT_LAYER_H_