GridMapLoader.hpp

Go to the documentation of this file.

/*
 * GridMapLoader.hpp
 *
 *  Created on: Aug 24, 2015
 *      Author: Peter Fankhauser
 *       Institute: ETH Zurich, Autonomous Systems Lab
 *
 */

#pragma once

// ROS
#include <ros/ros.h>

// Grid map
#include <grid_map_ros/grid_map_ros.hpp>

// STD
#include <string>

namespace grid_map_loader {

class GridMapLoader
{
 public:

  GridMapLoader(ros::NodeHandle nodeHandle);

  virtual ~GridMapLoader();

  bool readParameters();

  bool load();

  void publish();

 private:

  ros::NodeHandle nodeHandle_;

  ros::Publisher publisher_;

  grid_map::GridMap map_;

  std::string filePath_;

  std::string bagTopic_;

  std::string publishTopic_;

  ros::Duration duration_;
};

} /* namespace */