Program Listing for File PointCloudVisualization.hpp
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/*
* PointCloudVisualization.hpp
*
* Created on: Sep 11, 2014
* Author: Péter Fankhauser
* Institute: ETH Zurich, ANYbotics
*/
#ifndef GRID_MAP_VISUALIZATION__VISUALIZATIONS__POINTCLOUDVISUALIZATION_HPP_
#define GRID_MAP_VISUALIZATION__VISUALIZATIONS__POINTCLOUDVISUALIZATION_HPP_
#include <grid_map_core/GridMap.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
// ROS
#include <rclcpp/rclcpp.hpp>
#include <string>
#include "grid_map_visualization/visualizations/VisualizationBase.hpp"
namespace grid_map_visualization
{
class PointCloudVisualization : public VisualizationBase
{
public:
explicit PointCloudVisualization(const std::string & name, rclcpp::Node::SharedPtr nodePtr);
virtual ~PointCloudVisualization();
bool readParameters() override;
bool initialize() override;
bool visualize(const grid_map::GridMap & map) override;
private:
std::string layer_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr publisher_;
};
} // namespace grid_map_visualization
#endif // GRID_MAP_VISUALIZATION__VISUALIZATIONS__POINTCLOUDVISUALIZATION_HPP_