00001 #include <geometry_msgs/PoseStamped.h> 00002 #include <nav_msgs/OccupancyGrid.h> 00003 #include <ros/ros.h> 00004 00005 namespace obstacle_visualizer 00006 { 00007 class ObstacleVisualizer 00008 { 00009 public: 00010 ObstacleVisualizer(); 00011 00012 void costmapCallback(const nav_msgs::OccupancyGrid& msg); 00013 00014 private: 00015 ros::Subscriber costmap_sub_; 00016 ros::Subscriber robot_pose_sub_; 00017 ros::Publisher nearest_obstacle_pub_; 00018 }; 00019 }