Program Listing for File FiltersDemo.hpp
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/*
* FiltersDemo.hpp
*
* Created on: Aug 16, 2017
* Author: Peter Fankhauser
* Institute: ETH Zurich, ANYbotics
*
*/
#ifndef GRID_MAP_DEMOS__FILTERSDEMO_HPP_
#define GRID_MAP_DEMOS__FILTERSDEMO_HPP_
#include <grid_map_ros/grid_map_ros.hpp>
#include <filters/filter_chain.hpp>
#include <rclcpp/rclcpp.hpp>
#include <string>
namespace grid_map_demos
{
class FiltersDemo : public rclcpp::Node
{
public:
FiltersDemo();
virtual ~FiltersDemo();
bool readParameters();
void callback(const grid_map_msgs::msg::GridMap::SharedPtr message);
private:
std::string inputTopic_;
std::string outputTopic_;
rclcpp::Subscription<grid_map_msgs::msg::GridMap>::SharedPtr subscriber_;
rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr publisher_;
filters::FilterChain<grid_map::GridMap> filterChain_;
std::string filterChainParametersName_;
};
} // namespace grid_map_demos
#endif // GRID_MAP_DEMOS__FILTERSDEMO_HPP_