00001 #ifndef DUMMY_SLAM_BROADCASTER_H 00002 #define DUMMY_SLAM_BROADCASTER_H 00003 #include <ros/ros.h> 00004 #include <nav_msgs/OccupancyGrid.h> 00005 #include <tf/transform_broadcaster.h> 00006 00009 class DummySLAMBroadcaster 00010 { 00011 public: 00012 DummySLAMBroadcaster(); 00013 void broadcastMap( const ros::TimerEvent& e ); 00014 void broadcastPose( const ros::TimerEvent& e ); 00015 00016 private: 00017 void initMap(); 00018 00019 ros::NodeHandle node_handle_; 00020 00021 int broadcast_zero_pose_enabled_; 00022 ros::Publisher map_publisher_; 00023 ros::Publisher pose_publisher_; 00024 ros::Timer pub_map_timer_; 00025 ros::Timer pub_pose_timer_; 00026 00027 nav_msgs::OccupancyGrid empty_map_; 00028 00029 tf::TransformBroadcaster tf_pose_broadcaster_; 00030 }; 00031 00032 #endif // DUMMY_SLAM_BROADCASTER_H