00001 /* 00002 * octomap_to_gridmap_demo_node.cpp 00003 * 00004 * Created on: May 03, 2017 00005 * Author: Jeff Delmerico 00006 * Institute: University of Zürich, Robotics and Perception Group 00007 */ 00008 00009 #include <ros/ros.h> 00010 #include "grid_map_demos/OctomapToGridmapDemo.hpp" 00011 00012 int main(int argc, char** argv) 00013 { 00014 // Initialize node and publisher. 00015 ros::init(argc, argv, "octomap_to_gridmap_demo"); 00016 ros::NodeHandle nh("~"); 00017 grid_map_demos::OctomapToGridmapDemo octomapToGridmapDemo(nh); 00018 ros::Duration(2.0).sleep(); 00019 00020 ros::Rate r(0.1); // 1 hz 00021 while (ros::ok()) 00022 { 00023 octomapToGridmapDemo.convertAndPublishMap(); 00024 ros::spinOnce(); 00025 r.sleep(); 00026 } 00027 return 0; 00028 }