GazeboMapPublisher.h

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#ifndef GAZEBO_GAZEBOMAPPUBLISHER_H
#define GAZEBO_GAZEBOMAPPUBLISHER_H

#include <ros/ros.h>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/Model.hh>
#include <nav_msgs/GetMap.h>
#include <nav_msgs/GetMapRequest.h>
#include <nav_msgs/GetMapResponse.h>
#include <nav_msgs/OccupancyGrid.h>

namespace gazebo
{

class GazeboMapPublisher : public WorldPlugin
{
public: 

        GazeboMapPublisher();
        void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);

private:

        bool requestMap(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res); 

        void advertEvent(const ros::TimerEvent& e); 

        void onWorldUpdate(); 

    // forward declaration
    class CollisionMapRequest;

        //see http://gazebosim.org/wiki/Tutorials/1.4/custom_messages#Collision_Map_Creator_Plugin
        bool createMap(const CollisionMapRequest &msg, const std::string& map_frame, nav_msgs::OccupancyGrid& map);

        CollisionMapRequest getCollisionRequest();

        nav_msgs::MapMetaData getMetaData(); 

        nav_msgs::OccupancyGrid getMap(); 
        
    //map resolution (m/cell)
        float map_resolution;

    //height of obstacles to consider for generating the map
        float map_height;
        double map_offset_x;
        double map_offset_y;
        double map_len_x;
        double map_len_y;

    ros::NodeHandle node;

        std::string MAP_TOPIC;
        std::string MAP_FRAME;
        std::string METADATA_TOPIC;
        std::string REQUEST_MAP_SERVICE;
        std::string ROBOT_NAME;
        float MAP_PUB_FREQ;
        
        physics::WorldPtr world;

        event::ConnectionPtr update_connection;
        ros::Publisher map_pub;
        ros::Publisher meta_pub;

        ros::ServiceServer request_map_srv;
                
        ros::Timer publishTimer;

        bool worldChangedSinceLastAdvert; 
};

}
#endif  // GAZEBO_GAZEBOMAPPUBLISHER_H