costmap_2d_publisher.h
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
00037  *********************************************************************/
00038 #ifndef COSTMAP_2D_COSTMAP_2D_PUBLISHER_H_
00039 #define COSTMAP_2D_COSTMAP_2D_PUBLISHER_H_
00040 #include <ros/ros.h>
00041 #include <costmap_2d/costmap_2d.h>
00042 #include <nav_msgs/OccupancyGrid.h>
00043 #include <map_msgs/OccupancyGridUpdate.h>
00044 #include <tf/transform_datatypes.h>
00045 
00046 namespace costmap_2d
00047 {
00052 class Costmap2DPublisher
00053 {
00054 public:
00058   Costmap2DPublisher(ros::NodeHandle * ros_node, Costmap2D* costmap, std::string global_frame,
00059                      std::string topic_name, bool always_send_full_costmap = false);
00060 
00064   ~Costmap2DPublisher();
00065 
00067   void updateBounds(unsigned int x0, unsigned int xn, unsigned int y0, unsigned int yn)
00068   {
00069     x0_ = std::min(x0, x0_);
00070     xn_ = std::max(xn, xn_);
00071     y0_ = std::min(y0, y0_);
00072     yn_ = std::max(yn, yn_);
00073   }
00074 
00078   void publishCostmap();
00079 
00084   bool active()
00085   {
00086     return active_;
00087   }
00088 
00089 private:
00091   void prepareGrid();
00092 
00094   void onNewSubscription(const ros::SingleSubscriberPublisher& pub);
00095 
00096   ros::NodeHandle* node;
00097   Costmap2D* costmap_;
00098   std::string global_frame_;
00099   unsigned int x0_, xn_, y0_, yn_;
00100   double saved_origin_x_, saved_origin_y_;
00101   bool active_;
00102   bool always_send_full_costmap_;
00103   ros::Publisher costmap_pub_;
00104   ros::Publisher costmap_update_pub_;
00105   nav_msgs::OccupancyGrid grid_;
00106   static char* cost_translation_table_;  
00107 };
00108 }  // namespace costmap_2d
00109 #endif  // COSTMAP_2D_COSTMAP_2D_PUBLISHER_H


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:15