Program Listing for File ImageToGridmapDemo.hpp
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/*
* ImageToGridmapDemo.hpp
*
* Created on: May 4, 2015
* Author: Martin Wermelinger
* Institute: ETH Zurich, ANYbotics
*
*/
#ifndef GRID_MAP_DEMOS__IMAGETOGRIDMAPDEMO_HPP_
#define GRID_MAP_DEMOS__IMAGETOGRIDMAPDEMO_HPP_
// ROS
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <grid_map_ros/grid_map_ros.hpp>
#include <string>
namespace grid_map_demos
{
class ImageToGridmapDemo : public rclcpp::Node
{
public:
ImageToGridmapDemo();
virtual ~ImageToGridmapDemo();
bool readParameters();
void imageCallback(const sensor_msgs::msg::Image::SharedPtr msg);
private:
rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr gridMapPublisher_;
grid_map::GridMap map_;
rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr imageSubscriber_;
std::string imageTopic_;
double resolution_;
double minHeight_;
double maxHeight_;
std::string mapFrameId_;
bool mapInitialized_;
};
} // namespace grid_map_demos
#endif // GRID_MAP_DEMOS__IMAGETOGRIDMAPDEMO_HPP_