occupancy_grid_node_main.cc File Reference

#include <cmath>
#include <string>
#include <vector>
#include "Eigen/Core"
#include "Eigen/Geometry"
#include "absl/synchronization/mutex.h"
#include "cairo/cairo.h"
#include "cartographer/common/port.h"
#include "cartographer/io/image.h"
#include "cartographer/io/submap_painter.h"
#include "cartographer/mapping/id.h"
#include "cartographer/transform/rigid_transform.h"
#include "cartographer_ros/msg_conversion.h"
#include "cartographer_ros/node_constants.h"
#include "cartographer_ros/ros_log_sink.h"
#include "cartographer_ros/submap.h"
#include "cartographer_ros_msgs/SubmapList.h"
#include "cartographer_ros_msgs/SubmapQuery.h"
#include "gflags/gflags.h"
#include "nav_msgs/OccupancyGrid.h"
#include "ros/ros.h"

Include dependency graph for occupancy_grid_node_main.cc:

Go to the source code of this file.

Namespaces
namespace	cartographer_ros
Functions
	DEFINE_bool (include_frozen_submaps, true,"Include frozen submaps in the occupancy grid.")
	DEFINE_bool (include_unfrozen_submaps, true,"Include unfrozen submaps in the occupancy grid.")
	DEFINE_double (resolution, 0.05,"Resolution of a grid cell in the published occupancy grid.")
	DEFINE_double (publish_period_sec, 1.0,"OccupancyGrid publishing period.")
	DEFINE_string (occupancy_grid_topic, cartographer_ros::kOccupancyGridTopic,"Name of the topic on which the occupancy grid is published.")
int	main (int argc, char **argv)

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Function Documentation

DEFINE_bool	(	include_frozen_submaps	,
		true	,
		"Include frozen submaps in the occupancy grid."
	)

DEFINE_bool	(	include_unfrozen_submaps	,
		true	,
		"Include unfrozen submaps in the occupancy grid."
	)

DEFINE_double	(	resolution	,
		0.	05,
		"Resolution of a grid cell in the published occupancy grid."
	)

DEFINE_double	(	publish_period_sec	,
		1.	0,
		"OccupancyGrid publishing period."
	)

DEFINE_string	(	occupancy_grid_topic	,
		cartographer_ros::kOccupancyGridTopic	,
		"Name of the topic on which the occupancy grid is published."
	)

int main	(	int	argc,
		char **	argv
	)

Definition at line 177 of file occupancy_grid_node_main.cc.

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Variable Documentation

std::string last_frame_id_

Definition at line 78 of file occupancy_grid_node_main.cc.

ros::Time last_timestamp_

Definition at line 79 of file occupancy_grid_node_main.cc.

absl::Mutex mutex_

Definition at line 72 of file occupancy_grid_node_main.cc.

::ros::NodeHandle node_handle_

Definition at line 69 of file occupancy_grid_node_main.cc.

::ros::WallTimer occupancy_grid_publisher_timer_

Definition at line 77 of file occupancy_grid_node_main.cc.

const double resolution_

Definition at line 70 of file occupancy_grid_node_main.cc.