stdr_server::MapServer Class Reference

Implements the STDR map server functionalities. More...

#include <map_server.h>

List of all members.

Public Member Functions
	MapServer (const std::string &fname)
	Constructor by filename.
	MapServer (const nav_msgs::OccupancyGrid &map)
	Constructor by occupancy grid map.
Private Member Functions
void	publishData ()
	Publishes the map data and metadata.
void	publishTransform (const ros::TimerEvent &ev)
	Publishes the map to map_static transform.
Private Attributes
nav_msgs::OccupancyGrid	map_
ros::Publisher	map_pub
	ROS publisher for posting the map metadata.
nav_msgs::MapMetaData	meta_data_message_
	ROS occupancy grid message.
ros::Publisher	metadata_pub
	ROS timer for tf posting.
ros::NodeHandle	n
	< The ROS node handle
tf::TransformBroadcaster	tfBroadcaster
	ROS map metadata message.
ros::Timer	tfTimer
	ROS tf broadcaster.

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Detailed Description

Implements the STDR map server functionalities.

Definition at line 39 of file map_server.h.

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Constructor & Destructor Documentation

MapServer::MapServer

(

const std::string &

fname

)

[explicit]

Constructor by filename.

Parameters:

fname

[const std::string&] The file name

Returns:

void

Definition at line 31 of file map_server.cpp.

MapServer::MapServer

(

const nav_msgs::OccupancyGrid &

map

)

[explicit]

Constructor by occupancy grid map.

Parameters:

map	[const nav_msgs::OccupancyGrid&] The occupancy grid map

Returns:

void

Definition at line 46 of file map_server.cpp.

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Member Function Documentation

void MapServer::publishData

(

void

)

[private]

Publishes the map data and metadata.

Returns:

void

< Latched publisher for metadata

< Latched publisher for data

Definition at line 60 of file map_server.cpp.

void MapServer::publishTransform

(

const ros::TimerEvent &

ev

)

[private]

Publishes the map to map_static transform.

Parameters:

ev	[const ros::TimerEvent&] A ROS timer event

Returns:

void

Definition at line 80 of file map_server.cpp.

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Member Data Documentation

nav_msgs::OccupancyGrid stdr_server::MapServer::map_ [private]

Definition at line 87 of file map_server.h.

ros::Publisher stdr_server::MapServer::map_pub [private]

ROS publisher for posting the map metadata.

Definition at line 78 of file map_server.h.

nav_msgs::MapMetaData stdr_server::MapServer::meta_data_message_ [private]

ROS occupancy grid message.

Definition at line 86 of file map_server.h.

ros::Publisher stdr_server::MapServer::metadata_pub [private]

ROS timer for tf posting.

Definition at line 80 of file map_server.h.

ros::NodeHandle stdr_server::MapServer::n [private]

< The ROS node handle

ROS publisher for posting the map

Definition at line 76 of file map_server.h.

tf::TransformBroadcaster stdr_server::MapServer::tfBroadcaster [private]

ROS map metadata message.

Definition at line 84 of file map_server.h.

ros::Timer stdr_server::MapServer::tfTimer [private]

ROS tf broadcaster.

Definition at line 82 of file map_server.h.

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

• map_server.h
• map_server.cpp