Program Listing for File OctomapToGridmapDemo.hpp
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/*
* OctomapToGridmapDemo.hpp
*
* Created on: May 03, 2017
* Author: Jeff Delmerico
* Institute: University of Zürich, Robotics and Perception Group
*/
#ifndef GRID_MAP_DEMOS__OCTOMAPTOGRIDMAPDEMO_HPP_
#define GRID_MAP_DEMOS__OCTOMAPTOGRIDMAPDEMO_HPP_
#include <grid_map_ros/grid_map_ros.hpp>
#include <octomap_msgs/srv/get_octomap.hpp>
#include <rclcpp/rclcpp.hpp>
#include <string>
namespace grid_map_demos
{
class OctomapToGridmapDemo : public rclcpp::Node
{
public:
using GetOctomapSrv = octomap_msgs::srv::GetOctomap;
using OctomapMessage = octomap_msgs::msg::Octomap;
OctomapToGridmapDemo();
virtual ~OctomapToGridmapDemo();
bool readParameters();
void convertAndPublishMap();
private:
rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr gridMapPublisher_;
rclcpp::Publisher<OctomapMessage>::SharedPtr octomapPublisher_;
grid_map::GridMap map_;
std::string octomapServiceTopic_;
rclcpp::Client<GetOctomapSrv>::SharedPtr client_;
float minX_;
float maxX_;
float minY_;
float maxY_;
float minZ_;
float maxZ_;
};
} // namespace grid_map_demos
#endif // GRID_MAP_DEMOS__OCTOMAPTOGRIDMAPDEMO_HPP_