Class MapDisplay

Defined in File map_display.hpp

Inheritance Relationships

Base Type

public rviz_common::MessageFilterDisplay< nav_msgs::msg::OccupancyGrid >

Class Documentation

class MapDisplay : public rviz_common::MessageFilterDisplay<nav_msgs::msg::OccupancyGrid>

Displays a map along the XY plane.

Public Functions

explicit MapDisplay(rviz_common::DisplayContext *context)

MapDisplay()

~MapDisplay() override

void onInitialize() override

void fixedFrameChanged() override

void reset() override

inline float getResolution()

inline size_t getWidth()

inline size_t getHeight()

void processMessage(nav_msgs::msg::OccupancyGrid::ConstSharedPtr msg) override: Copy msg into current_map_ and call showMap().

Public Slots

void showMap()

Signals

void mapUpdated(): Emitted when a new map is received.

Protected Functions

void updateTopic() override

void update(float wall_dt, float ros_dt) override

void subscribe() override

void unsubscribe() override

void onEnable() override

void incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update): Copy update’s data into current_map_ and call showMap().

bool updateDataOutOfBounds(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update) const

void updateMapDataInMemory(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update)

void clear()

void subscribeToUpdateTopic()

void unsubscribeToUpdateTopic()

void showValidMap()

void resetSwatchesIfNecessary(size_t width, size_t height, float resolution)

void createSwatches()

void doubleSwatchNumber(size_t &swatch_width, size_t &swatch_height, int &number_swatches) const

void tryCreateSwatches(size_t width, size_t height, float resolution, size_t swatch_width, size_t swatch_height, int number_swatches)

size_t getEffectiveDimension(size_t map_dimension, size_t swatch_dimension, size_t position)

void updateSwatches() const

Protected Attributes

std::vector<std::shared_ptr<Swatch>> swatches_

std::vector<Ogre::TexturePtr> palette_textures_

std::vector<Ogre::TexturePtr> palette_textures_binary_

std::vector<bool> color_scheme_transparency_

bool loaded_

float resolution_

size_t width_

size_t height_

std::string frame_

nav_msgs::msg::OccupancyGrid current_map_

rclcpp::Subscription<map_msgs::msg::OccupancyGridUpdate>::SharedPtr update_subscription_

rclcpp::QoS update_profile_

rclcpp::Time subscription_start_time_

rviz_common::properties::RosTopicProperty *update_topic_property_

rviz_common::properties::QosProfileProperty *update_profile_property_

rviz_common::properties::FloatProperty *resolution_property_

rviz_common::properties::IntProperty *width_property_

rviz_common::properties::IntProperty *height_property_

rviz_common::properties::VectorProperty *position_property_

rviz_common::properties::QuaternionProperty *orientation_property_

rviz_common::properties::FloatProperty *alpha_property_

rviz_common::properties::Property *draw_under_property_

rviz_common::properties::EnumProperty *color_scheme_property_

rviz_common::properties::BoolProperty *transform_timestamp_property_

rviz_common::properties::BoolProperty *binary_view_property_

rviz_common::properties::IntProperty *binary_threshold_property_

uint32_t update_messages_received_

Protected Slots

void updateAlpha()

void updateDrawUnder() const

void updatePalette()

void updateBinaryThreshold()

void transformMap(): Show current_map_ in the scene.

void updateMapUpdateTopic()