grid_map_demos::OctomapToGridmapDemo Class Reference

#include <OctomapToGridmapDemo.hpp>

List of all members.

Public Member Functions
void	convertAndPublishMap ()
	OctomapToGridmapDemo (ros::NodeHandle &nodeHandle)
bool	readParameters ()
virtual	~OctomapToGridmapDemo ()
Private Attributes
ros::ServiceClient	client_
	Octomap service client.
ros::Publisher	gridMapPublisher_
	Grid map publisher.
grid_map::GridMap	map_
	Grid map data.
float	maxX_
float	maxY_
float	maxZ_
float	minX_
	Bounding box of octomap to convert.
float	minY_
float	minZ_
ros::NodeHandle &	nodeHandle_
	ROS nodehandle.
ros::Publisher	octomapPublisher_
	Octomap publisher.
std::string	octomapServiceTopic_
	Name of the grid map topic.

---

Detailed Description

Receives a volumetric OctoMap and converts it to a grid map with an elevation layer. The grid map is published and can be viewed in Rviz.

Definition at line 24 of file OctomapToGridmapDemo.hpp.

---

Constructor & Destructor Documentation

grid_map_demos::OctomapToGridmapDemo::OctomapToGridmapDemo

(

ros::NodeHandle &

nodeHandle

)

Constructor.

Parameters:

nodeHandle

the ROS node handle.

Definition at line 20 of file OctomapToGridmapDemo.cpp.

virtual grid_map_demos::OctomapToGridmapDemo::~OctomapToGridmapDemo

(

)

[virtual]

Destructor.

---

Member Function Documentation

void grid_map_demos::OctomapToGridmapDemo::convertAndPublishMap

(

)

bool grid_map_demos::OctomapToGridmapDemo::readParameters

(

)

Reads and verifies the ROS parameters.

Returns:

true if successful.

---

Member Data Documentation

ros::ServiceClient grid_map_demos::OctomapToGridmapDemo::client_ [private]

Octomap service client.

Definition at line 65 of file OctomapToGridmapDemo.hpp.

ros::Publisher grid_map_demos::OctomapToGridmapDemo::gridMapPublisher_ [private]

Grid map publisher.

Definition at line 53 of file OctomapToGridmapDemo.hpp.

grid_map::GridMap grid_map_demos::OctomapToGridmapDemo::map_ [private]

Grid map data.

Definition at line 59 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::maxX_ [private]

Definition at line 69 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::maxY_ [private]

Definition at line 71 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::maxZ_ [private]

Definition at line 73 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::minX_ [private]

Bounding box of octomap to convert.

Definition at line 68 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::minY_ [private]

Definition at line 70 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::minZ_ [private]

Definition at line 72 of file OctomapToGridmapDemo.hpp.

ros::NodeHandle& grid_map_demos::OctomapToGridmapDemo::nodeHandle_ [private]

ROS nodehandle.

Definition at line 50 of file OctomapToGridmapDemo.hpp.

ros::Publisher grid_map_demos::OctomapToGridmapDemo::octomapPublisher_ [private]

Octomap publisher.

Definition at line 56 of file OctomapToGridmapDemo.hpp.

std::string grid_map_demos::OctomapToGridmapDemo::octomapServiceTopic_ [private]

Name of the grid map topic.

Definition at line 62 of file OctomapToGridmapDemo.hpp.

---

The documentation for this class was generated from the following files:

• OctomapToGridmapDemo.hpp
• OctomapToGridmapDemo.cpp