00001 /* 00002 * FiltersDemo.hpp 00003 * 00004 * Created on: Aug 16, 2017 00005 * Author: Peter Fankhauser 00006 * Institute: ETH Zurich, Robotic Systems Lab 00007 * 00008 */ 00009 00010 #pragma once 00011 00012 #include <grid_map_ros/grid_map_ros.hpp> 00013 00014 #include <filters/filter_chain.h> 00015 #include <ros/ros.h> 00016 #include <string> 00017 00018 namespace grid_map_demos { 00019 00024 class FiltersDemo 00025 { 00026 public: 00027 00033 FiltersDemo(ros::NodeHandle& nodeHandle, bool& success); 00034 00038 virtual ~FiltersDemo(); 00039 00044 bool readParameters(); 00045 00050 void callback(const grid_map_msgs::GridMap& message); 00051 00052 private: 00053 00055 ros::NodeHandle& nodeHandle_; 00056 00058 std::string inputTopic_; 00059 00061 std::string outputTopic_; 00062 00064 ros::Subscriber subscriber_; 00065 00067 ros::Publisher publisher_; 00068 00070 filters::FilterChain<grid_map::GridMap> filterChain_; 00071 00073 std::string filterChainParametersName_; 00074 }; 00075 00076 } /* namespace */