FiltersDemo.hpp

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/*
 * FiltersDemo.hpp
 *
 *  Created on: Aug 16, 2017
 *      Author: Peter Fankhauser
 *       Institute: ETH Zurich, ANYbotics
 *
 */

#pragma once

#include <grid_map_ros/grid_map_ros.hpp>

#include <filters/filter_chain.h>
#include <ros/ros.h>
#include <string>

namespace grid_map_demos {

class FiltersDemo
{
 public:

  FiltersDemo(ros::NodeHandle& nodeHandle, bool& success);

  virtual ~FiltersDemo();

  bool readParameters();

  void callback(const grid_map_msgs::GridMap& message);

 private:

  ros::NodeHandle& nodeHandle_;

  std::string inputTopic_;

  std::string outputTopic_;

  ros::Subscriber subscriber_;

  ros::Publisher publisher_;

  filters::FilterChain<grid_map::GridMap> filterChain_;

  std::string filterChainParametersName_;
};

} /* namespace */