dummy_slam_broadcaster.h
Go to the documentation of this file.
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


dummy_slam_broadcaster
Author(s):
autogenerated on Thu Jun 6 2019 19:34:07