gazebo::GazeboMapPublisher Class Reference

#include <GazeboMapPublisher.h>

List of all members.

Classes
class	CollisionMapRequest
Public Member Functions
	GazeboMapPublisher ()
void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)
Private Member Functions
void	advertEvent (const ros::TimerEvent &e)
bool	createMap (const CollisionMapRequest &msg, const std::string &map_frame, nav_msgs::OccupancyGrid &map)
CollisionMapRequest	getCollisionRequest ()
nav_msgs::OccupancyGrid	getMap ()
nav_msgs::MapMetaData	getMetaData ()
void	onWorldUpdate ()
bool	requestMap (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
Private Attributes
std::string	MAP_FRAME
float	map_height
double	map_len_x
double	map_len_y
double	map_offset_x
double	map_offset_y
ros::Publisher	map_pub
float	MAP_PUB_FREQ
float	map_resolution
std::string	MAP_TOPIC
ros::Publisher	meta_pub
std::string	METADATA_TOPIC
ros::NodeHandle	node
ros::Timer	publishTimer
std::string	REQUEST_MAP_SERVICE
ros::ServiceServer	request_map_srv
std::string	ROBOT_NAME
event::ConnectionPtr	update_connection
physics::WorldPtr	world
bool	worldChangedSinceLastAdvert

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Detailed Description

Publishes a map of the grid in gazebo to a topic that the map is supposed to be published to.

A service is also provided to request a map (service name can be specified with ros paramter "request_map_service") of type nav_msgs/GetMap.

The plugin parameters can be specified in a YAML file, which needs to be loaded onto the parameter server under **namespace gazebo_state_plugins**, as follows:

``` # the topic onto which to continuously publish # the map. publish_map_topic: "/gazebo/map"

# frequency to publish the map map_pub_frequency: 1

# topic onto which to publish the metadata # information of the map. Only will be published # if publish_map_topic is not empty. map_metadata_topic: "/map_metadata"

# topic onto which to provide a service to # request the map. request_map_service: "/dynamic_map"

# The frame ID to assign to the map map_frame_id: "/map"

# the name of the robot in Gazebo robot_name: "robot" ```

Author:

Jennifer Buehler

Definition at line 51 of file GazeboMapPublisher.h.

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Constructor & Destructor Documentation

GazeboMapPublisher::GazeboMapPublisher

(

)

Definition at line 63 of file GazeboMapPublisher.cpp.

---

Member Function Documentation

void GazeboMapPublisher::advertEvent

(

const ros::TimerEvent &

e

)

[private]

Definition at line 125 of file GazeboMapPublisher.cpp.

bool GazeboMapPublisher::createMap	(	const CollisionMapRequest &	msg,
		const std::string &	map_frame,
		nav_msgs::OccupancyGrid &	map
	)		[private]

Definition at line 148 of file GazeboMapPublisher.cpp.

GazeboMapPublisher::CollisionMapRequest GazeboMapPublisher::getCollisionRequest

(

)

[private]

Definition at line 262 of file GazeboMapPublisher.cpp.

nav_msgs::OccupancyGrid GazeboMapPublisher::getMap

(

)

[private]

Definition at line 289 of file GazeboMapPublisher.cpp.

nav_msgs::MapMetaData GazeboMapPublisher::getMetaData

(

)

[private]

Definition at line 275 of file GazeboMapPublisher.cpp.

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

Definition at line 98 of file GazeboMapPublisher.cpp.

void GazeboMapPublisher::onWorldUpdate

(

)

[private]

Definition at line 143 of file GazeboMapPublisher.cpp.

bool GazeboMapPublisher::requestMap	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)		[private]

Definition at line 118 of file GazeboMapPublisher.cpp.

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Member Data Documentation

std::string gazebo::GazeboMapPublisher::MAP_FRAME [private]

Definition at line 91 of file GazeboMapPublisher.h.

float gazebo::GazeboMapPublisher::map_height [private]

Definition at line 82 of file GazeboMapPublisher.h.

double gazebo::GazeboMapPublisher::map_len_x [private]

Definition at line 85 of file GazeboMapPublisher.h.

double gazebo::GazeboMapPublisher::map_len_y [private]

Definition at line 86 of file GazeboMapPublisher.h.

double gazebo::GazeboMapPublisher::map_offset_x [private]

Definition at line 83 of file GazeboMapPublisher.h.

double gazebo::GazeboMapPublisher::map_offset_y [private]

Definition at line 84 of file GazeboMapPublisher.h.

ros::Publisher gazebo::GazeboMapPublisher::map_pub [private]

Definition at line 100 of file GazeboMapPublisher.h.

float gazebo::GazeboMapPublisher::MAP_PUB_FREQ [private]

Definition at line 95 of file GazeboMapPublisher.h.

float gazebo::GazeboMapPublisher::map_resolution [private]

Definition at line 79 of file GazeboMapPublisher.h.

std::string gazebo::GazeboMapPublisher::MAP_TOPIC [private]

Definition at line 90 of file GazeboMapPublisher.h.

ros::Publisher gazebo::GazeboMapPublisher::meta_pub [private]

Definition at line 101 of file GazeboMapPublisher.h.

std::string gazebo::GazeboMapPublisher::METADATA_TOPIC [private]

Definition at line 92 of file GazeboMapPublisher.h.

ros::NodeHandle gazebo::GazeboMapPublisher::node [private]

Definition at line 88 of file GazeboMapPublisher.h.

ros::Timer gazebo::GazeboMapPublisher::publishTimer [private]

Definition at line 105 of file GazeboMapPublisher.h.

std::string gazebo::GazeboMapPublisher::REQUEST_MAP_SERVICE [private]

Definition at line 93 of file GazeboMapPublisher.h.

ros::ServiceServer gazebo::GazeboMapPublisher::request_map_srv [private]

Definition at line 103 of file GazeboMapPublisher.h.

std::string gazebo::GazeboMapPublisher::ROBOT_NAME [private]

Definition at line 94 of file GazeboMapPublisher.h.

event::ConnectionPtr gazebo::GazeboMapPublisher::update_connection [private]

Definition at line 99 of file GazeboMapPublisher.h.

physics::WorldPtr gazebo::GazeboMapPublisher::world [private]

Definition at line 97 of file GazeboMapPublisher.h.

bool gazebo::GazeboMapPublisher::worldChangedSinceLastAdvert [private]

Definition at line 107 of file GazeboMapPublisher.h.

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The documentation for this class was generated from the following files:

• GazeboMapPublisher.h
• GazeboMapPublisher.cpp