Program Listing for File GridMapLoader.hpp
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/*
* GridMapLoader.hpp
*
* Created on: Aug 24, 2015
* Author: Peter Fankhauser
* Institute: ETH Zurich, ANYbotics
*
*/
#ifndef GRID_MAP_LOADER__GRIDMAPLOADER_HPP_
#define GRID_MAP_LOADER__GRIDMAPLOADER_HPP_
// ROS
#include <rclcpp/rclcpp.hpp>
// Grid map
#include <grid_map_ros/grid_map_ros.hpp>
// STD
#include <string>
namespace grid_map_loader
{
class GridMapLoader : public rclcpp::Node
{
public:
GridMapLoader();
virtual ~GridMapLoader();
bool readParameters();
bool load();
void publish();
private:
rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr publisher_;
grid_map::GridMap map_;
std::string filePath_;
std::string bagTopic_;
std::string publishTopic_;
double durationInSec;
bool qos_transient_local_;
};
} // namespace grid_map_loader
#endif // GRID_MAP_LOADER__GRIDMAPLOADER_HPP_