ImageToGridmapDemo.hpp
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00001 /*
00002  * ImageToGridmapDemo.hpp
00003  *
00004  *  Created on: May 4, 2015
00005  *      Author: Martin Wermelinger
00006  *       Institute: ETH Zurich, ANYbotics
00007  *
00008  */
00009 
00010 #pragma once
00011 
00012 // ROS
00013 #include <ros/ros.h>
00014 #include <sensor_msgs/Image.h>
00015 
00016 #include <grid_map_ros/grid_map_ros.hpp>
00017 
00018 #include <string>
00019 
00020 namespace grid_map_demos {
00021 
00026 class ImageToGridmapDemo
00027 {
00028  public:
00029 
00034   ImageToGridmapDemo(ros::NodeHandle& nodeHandle);
00035 
00039   virtual ~ImageToGridmapDemo();
00040 
00045   bool readParameters();
00046 
00047   void imageCallback(const sensor_msgs::Image& msg);
00048 
00049  private:
00050 
00052   ros::NodeHandle& nodeHandle_;
00053 
00055   ros::Publisher gridMapPublisher_;
00056 
00058   grid_map::GridMap map_;
00059 
00061   ros::Subscriber imageSubscriber_;
00062 
00064   std::string imageTopic_;
00065 
00067   double mapLengthX_;
00068 
00070   double resolution_;
00071 
00073   double minHeight_;
00074   double maxHeight_;
00075 
00077   std::string mapFrameId_;
00078 
00079   bool mapInitialized_;
00080 };
00081 
00082 } /* namespace */


grid_map_demos
Author(s): P├ęter Fankhauser
autogenerated on Tue Jul 9 2019 05:06:58