map_server_node.h
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00001 /***********************************************************************************
00002  * Revised BSD License                                                             *
00003  * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
00004  * All rights reserved.                                                            *
00005  *                                                                                 *
00006  * Redistribution and use in source and binary forms, with or without              *
00007  * modification, are permitted provided that the following conditions are met:     *
00008  *     * Redistributions of source code must retain the above copyright            *
00009  *       notice, this list of conditions and the following disclaimer.             *
00010  *     * Redistributions in binary form must reproduce the above copyright         *
00011  *       notice, this list of conditions and the following disclaimer in the       *
00012  *       documentation and/or other materials provided with the distribution.      *
00013  *     * Neither the name of the Vienna University of Technology nor the           *
00014  *       names of its contributors may be used to endorse or promote products      *
00015  *       derived from this software without specific prior written permission.     *
00016  *                                                                                 *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
00018  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED   *
00019  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE          *
00020  * DISCLAIMED. IN NO EVENT SHALL Markus Bader BE LIABLE FOR ANY                    *
00021  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES      *
00022  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;    *
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00027  ***********************************************************************************/
00028 
00029 #ifndef MRPT_MAP_SERVER_NODE_H
00030 #define MRPT_MAP_SERVER_NODE_H
00031 
00032 #include "ros/ros.h"
00033 #include "nav_msgs/MapMetaData.h"
00034 #include "nav_msgs/GetMap.h"
00035 #include "boost/smart_ptr.hpp"
00036 
00037 namespace mrpt {
00038   namespace utils {
00039     class CConfigFile;
00040   }
00041   namespace slam {
00042     class CMultiMetricMap;
00043   }
00044 }
00045 
00046 class MapServer {
00047 public:
00048     MapServer(ros::NodeHandle &n);
00049     ~MapServer();
00050     void init();
00051     void loop();
00052 private: 
00053     ros::NodeHandle n_;
00054     ros::NodeHandle n_param_;
00055     double frequency_;
00056     unsigned long loop_count_;
00057     bool debug_;
00058     ros::Publisher pub_map_ros_;
00059     ros::Publisher pub_metadata_;
00060     ros::ServiceServer service_map_;
00061     nav_msgs::GetMap::Response resp_ros_;
00062     boost::shared_ptr<mrpt::slam::CMultiMetricMap> metric_map_;
00063     void publishMap ();
00064     bool mapCallback(nav_msgs::GetMap::Request  &req, nav_msgs::GetMap::Response &res );
00065 };
00066 
00067 
00068 #endif // MRPT_MAP_SERVER_NODE_H


mrpt_map
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autogenerated on Mon Aug 11 2014 11:23:32