Go to the documentation of this file.00001 #include "obstacle_visualizer/obstacle_visualizer.h"
00002 #include "obstacle_finder/obstacle_finder.h"
00003
00004 namespace obstacle_visualizer
00005 {
00006 ObstacleVisualizer::ObstacleVisualizer()
00007 {
00008 ros::NodeHandle nh;
00009 std::string costmap_topic;
00010 ros::param::param<std::string>("costmap_topic", costmap_topic, "/move_base/local_costmap/costmap");
00011 costmap_sub_ = nh.subscribe(costmap_topic, 10, &ObstacleVisualizer::costmapCallback, this);
00012 nearest_obstacle_pub_ = nh.advertise<geometry_msgs::Pose>("nearest_obstacle", 10, false);
00013 }
00014
00015 void ObstacleVisualizer::costmapCallback(const nav_msgs::OccupancyGrid& msg)
00016 {
00017 }
00018 }
00019
00020 int main(int argc, char** argv)
00021 {
00022 ros::init(argc, argv, "obstacle_visualizer");
00023
00024 obstacle_visualizer::ObstacleVisualizer obstacle_visaulizer;
00025 ros::spin();
00026
00027 return EXIT_SUCCESS;
00028 }