#include <GridMapRosConverter.hpp>

Public Member Functions
	GridMapRosConverter ()
virtual	~GridMapRosConverter ()
Static Public Member Functions
static bool	addColorLayerFromImage (const sensor_msgs::Image &image, const std::string &layer, grid_map::GridMap &gridMap)
static bool	addLayerFromImage (const sensor_msgs::Image &image, const std::string &layer, grid_map::GridMap &gridMap, const float lowerValue=0.0, const float upperValue=1.0, const double alphaThreshold=0.5)
static bool	fromMessage (const grid_map_msgs::GridMap &message, grid_map::GridMap &gridMap)
static bool	fromOccupancyGrid (const nav_msgs::OccupancyGrid &occupancyGrid, const std::string &layer, grid_map::GridMap &gridMap)
static bool	initializeFromImage (const sensor_msgs::Image &image, const double resolution, grid_map::GridMap &gridMap, const grid_map::Position &position=grid_map::Position::Zero())
static bool	loadFromBag (const std::string &pathToBag, const std::string &topic, grid_map::GridMap &gridMap)
static bool	saveToBag (const grid_map::GridMap &gridMap, const std::string &pathToBag, const std::string &topic)
static bool	toCvImage (const grid_map::GridMap &gridMap, const std::string &layer, const std::string encoding, cv_bridge::CvImage &cvImage)
static bool	toCvImage (const grid_map::GridMap &gridMap, const std::string &layer, const std::string encoding, const float lowerValue, const float upperValue, cv_bridge::CvImage &cvImage)
static void	toGridCells (const grid_map::GridMap &gridMap, const std::string &layer, float lowerThreshold, float upperThreshold, nav_msgs::GridCells &gridCells)
static bool	toImage (const grid_map::GridMap &gridMap, const std::string &layer, const std::string encoding, sensor_msgs::Image &image)
static bool	toImage (const grid_map::GridMap &gridMap, const std::string &layer, const std::string encoding, const float lowerValue, const float upperValue, sensor_msgs::Image &image)
static void	toMessage (const grid_map::GridMap &gridMap, grid_map_msgs::GridMap &message)
static void	toMessage (const grid_map::GridMap &gridMap, const std::vector< std::string > &layers, grid_map_msgs::GridMap &message)
static void	toOccupancyGrid (const grid_map::GridMap &gridMap, const std::string &layer, float dataMin, float dataMax, nav_msgs::OccupancyGrid &occupancyGrid)
static void	toPointCloud (const grid_map::GridMap &gridMap, const std::string &pointLayer, sensor_msgs::PointCloud2 &pointCloud)
static void	toPointCloud (const grid_map::GridMap &gridMap, const std::vector< std::string > &layers, const std::string &pointLayer, sensor_msgs::PointCloud2 &pointCloud)

Detailed Description

ROS interface for the Grid Map library.

Definition at line 35 of file GridMapRosConverter.hpp.

Constructor & Destructor Documentation

grid_map::GridMapRosConverter::GridMapRosConverter ( )

Default constructor.

Definition at line 30 of file GridMapRosConverter.cpp.

grid_map::GridMapRosConverter::~GridMapRosConverter ( ) [virtual]

Destructor.

Definition at line 34 of file GridMapRosConverter.cpp.

Member Function Documentation

bool grid_map::GridMapRosConverter::addColorLayerFromImage	(	const sensor_msgs::Image &	image,
		const std::string &	layer,
		grid_map::GridMap &	gridMap
	)		`[static]`

Adds a color layer with data from an image.

Parameters:

[in]	image	the image to be added.
[in]	layer	the layer that is filled with the image.
[out]	gridMap	the grid map to be populated.

Returns:: true if successful, false otherwise.

Definition at line 359 of file GridMapRosConverter.cpp.

bool grid_map::GridMapRosConverter::addLayerFromImage	(	const sensor_msgs::Image &	image,
		const std::string &	layer,
		grid_map::GridMap &	gridMap,
		const float	lowerValue = `0.0`,
		const float	upperValue = `1.0`,
		const double	alphaThreshold = `0.5`
	)		`[static]`

Adds a layer with data from image.

Parameters:

[in]	image	the image to be added. If it is a color image (bgr or bgra encoding), it will be transformed in a grayscale image.
[in]	layer	the layer that is filled with the image data.
[out]	gridMap	the grid map to be populated.
[in]	optional)	lowerValue value of the layer corresponding to black image pixels.
[in]	optional)	upperValue value of the layer corresponding to white image pixels.
[in]	optional)	alphaThreshold the threshold ([0.0, 1.0]) for the alpha value at which cells in the grid map are marked as empty.

Returns:: true if successful, false otherwise.

Definition at line 325 of file GridMapRosConverter.cpp.

bool grid_map::GridMapRosConverter::fromMessage	(	const grid_map_msgs::GridMap &	message,
		grid_map::GridMap &	gridMap
	)		`[static]`

Converts a ROS grid map message to a grid map object.

Parameters:

[in]	message	the grid map message.
[out]	gridMap	the grid map object to be initialized.

Returns:: true if successful, false otherwise.

Definition at line 38 of file GridMapRosConverter.cpp.

bool grid_map::GridMapRosConverter::fromOccupancyGrid	(	const nav_msgs::OccupancyGrid &	occupancyGrid,
		const std::string &	layer,
		grid_map::GridMap &	gridMap
	)		`[static]`

Converts an occupancy grid message to a layer of a grid map.

Parameters:

[in]	occupancyGrid	the occupancy grid to be converted.
[in]	layer	the layer to which the occupancy grid will be converted.
[out]	gridMap	the grid map to be populated.

Returns:: true if successful.

Definition at line 205 of file GridMapRosConverter.cpp.

bool grid_map::GridMapRosConverter::initializeFromImage	(	const sensor_msgs::Image &	image,
		const double	resolution,
		grid_map::GridMap &	gridMap,
		const grid_map::Position &	position = `grid_map::Position::Zero()`
	)		`[static]`

Initializes the geometry of a grid map from an image messages. This changes the geometry of the map and deletes all contents of the layers!

Parameters:

[in]	image	the image.
[in]	resolution	the desired resolution of the grid map [m/cell].
[out]	gridMap	the grid map to be initialized.
[in]	optional)	position the position of the grid map.

Returns:: true if successful, false otherwise.

Definition at line 312 of file GridMapRosConverter.cpp.

bool grid_map::GridMapRosConverter::loadFromBag	(	const std::string &	pathToBag,
		const std::string &	topic,
		grid_map::GridMap &	gridMap
	)		`[static]`

Loads a GridMap from a ROS bag.

Parameters:

[in]	pathToBag	the path to the ROS bag file.
[in]	topic	the topic name of the grid map in the ROS bag.
[out]	gridMap	the grid map object to be initialized.

Returns:: true if successful, false otherwise.

Definition at line 461 of file GridMapRosConverter.cpp.

bool grid_map::GridMapRosConverter::saveToBag	(	const grid_map::GridMap &	gridMap,
		const std::string &	pathToBag,
		const std::string &	topic
	)		`[static]`

Saves a grid map into a ROS bag. The timestamp of the grid map is used as time for storing the message in the ROS bag. The time value 0.0 is not a valid bag time and will be replaced by the current time.

Parameters:

[in]	gridMap	the grid map object to be saved in the ROS bag.
[in]	pathToBag	the path to the ROS bag file.
[in]	topic	the name of the topic in the ROS bag.

Returns:: true if successful, false otherwise.

Definition at line 442 of file GridMapRosConverter.cpp.

bool grid_map::GridMapRosConverter::toCvImage	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		const std::string	encoding,
		cv_bridge::CvImage &	cvImage
	)		`[static]`

Creates a cv image from a grid map layer. This conversion sets the corresponding black and white pixel value to the min. and max. data of the layer data.

Parameters:

[in]	grid	map to be added.
[in]	layer	the layer that is converted to the image.
[in]	encoding	the desired encoding of the image.
[out]	cvImage	the to be populated.

Returns:: true if successful, false otherwise.

Definition at line 406 of file GridMapRosConverter.cpp.

bool grid_map::GridMapRosConverter::toCvImage	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		const std::string	encoding,
		const float	lowerValue,
		const float	upperValue,
		cv_bridge::CvImage &	cvImage
	)		`[static]`

Creates a cv image from a grid map layer.

Parameters:

[in]	grid	map to be added.
[in]	layer	the layer that is converted to the image.
[in]	encoding	the desired encoding of the image.
[in]	lowerValue	the value of the layer corresponding to black image pixels.
[in]	upperValue	the value of the layer corresponding to white image pixels.
[out]	cvImage	to be populated.

Returns:: true if successful, false otherwise.

Definition at line 414 of file GridMapRosConverter.cpp.

void grid_map::GridMapRosConverter::toGridCells	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		float	lowerThreshold,
		float	upperThreshold,
		nav_msgs::GridCells &	gridCells
	)		`[static]`

Converts a grid map object to a ROS GridCells message. Set the layer to be transformed as grid cells with `layer`, all other layers will be neglected. Values that are between the lower and upper threshold are converted to grid cells, other data is neglected.

Parameters:

[in]	gridMap	the grid map object.
[in]	layer	the layer that is transformed as grid cells.
[in]	lowerThreshold	the lower threshold.
[in]	upperThreshold	the upper threshold.
[out]	gridCells	the message to be populated.

Definition at line 289 of file GridMapRosConverter.cpp.

bool grid_map::GridMapRosConverter::toImage	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		const std::string	encoding,
		sensor_msgs::Image &	image
	)		`[static]`

Creates an image message from a grid map layer. This conversion sets the corresponding black and white pixel value to the min. and max. data of the layer data.

Parameters:

[in]	grid	map to be added.
[in]	layer	the layer that is converted to the image.
[in]	encoding	the desired encoding of the image.
[out]	image	the message to be populated.

Returns:: true if successful, false otherwise.

Definition at line 387 of file GridMapRosConverter.cpp.

bool grid_map::GridMapRosConverter::toImage	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		const std::string	encoding,
		const float	lowerValue,
		const float	upperValue,
		sensor_msgs::Image &	image
	)		`[static]`

Creates an image message from a grid map layer.

Parameters:

[in]	grid	map to be added.
[in]	layer	the layer that is converted to the image.
[in]	encoding	the desired encoding of the image.
[in]	lowerValue	the value of the layer corresponding to black image pixels.
[in]	upperValue	the value of the layer corresponding to white image pixels.
[out]	image	the message to be populated.

Returns:: true if successful, false otherwise.

Definition at line 396 of file GridMapRosConverter.cpp.

void grid_map::GridMapRosConverter::toMessage	(	const grid_map::GridMap &	gridMap,
		grid_map_msgs::GridMap &	message
	)		`[static]`

Converts all layers of a grid map object to a ROS grid map message.

Parameters:

[in]	gridMap	the grid map object.
[out]	message	the grid map message to be populated.

Definition at line 62 of file GridMapRosConverter.cpp.

void grid_map::GridMapRosConverter::toMessage	(	const grid_map::GridMap &	gridMap,
		const std::vector< std::string > &	layers,
		grid_map_msgs::GridMap &	message
	)		`[static]`

Converts requested layers of a grid map object to a ROS grid map message.

Parameters:

[in]	gridMap	the grid map object.
[in]	layers	the layers to be added to the message.
[out]	message	the grid map message to be populated.

Definition at line 67 of file GridMapRosConverter.cpp.

void grid_map::GridMapRosConverter::toOccupancyGrid	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		float	dataMin,
		float	dataMax,
		nav_msgs::OccupancyGrid &	occupancyGrid
	)		`[static]`

Converts a grid map object to a ROS OccupancyGrid message. Set the layer to be transformed as the cell data of the occupancy grid with `layer`, all other layers will be neglected.

Parameters:

[in]	gridMap	the grid map object.
[in]	layer	the layer that is transformed to the occupancy cell data.
[in]	dataMin	the minimum value of the grid map data (used to normalize the cell data in [min, max]).
[in]	dataMax	the maximum value of the grid map data (used to normalize the cell data in [min, max]).
[out]	occupancyGrid	the message to be populated.

Definition at line 251 of file GridMapRosConverter.cpp.

void grid_map::GridMapRosConverter::toPointCloud	(	const grid_map::GridMap &	gridMap,
		const std::string &	pointLayer,
		sensor_msgs::PointCloud2 &	pointCloud
	)		`[static]`

Converts a grid map object to a ROS PointCloud2 message. Set the layer to be transformed as the points of the point cloud with `pointLayer`, all other types will be added as additional fields.

Parameters:

[in]	gridMap	the grid map object.
[in]	pointLayer	the type that is transformed to points.
[out]	pointCloud	the message to be populated.

Definition at line 97 of file GridMapRosConverter.cpp.

void grid_map::GridMapRosConverter::toPointCloud	(	const grid_map::GridMap &	gridMap,
		const std::vector< std::string > &	layers,
		const std::string &	pointLayer,
		sensor_msgs::PointCloud2 &	pointCloud
	)		`[static]`

Converts a grid map object to a ROS PointCloud2 message. Set the layer to be transformed as the points of the point cloud with `pointLayer` and all other types to be added as additional layers with `layers`.

Parameters:

[in]	gridMap	the grid map object.
[in]	layers	the layers that should be added as fields to the point cloud. Must include the `pointLayer`.
[in]	pointLayer	the layer that is transformed to points.
[out]	pointCloud	the message to be populated.

Definition at line 104 of file GridMapRosConverter.cpp.

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

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation