grid_map_demos: octomap_to_gridmap_demo

Go to the documentation of this file.
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 }