costmap_2d::Costmap2DPublisher Class Reference

A tool to periodically publish visualization data from a Costmap2D. More...

#include <costmap_2d_publisher.h>

Public Member Functions
bool	active ()
	Check if the publisher is active. More...
	Costmap2DPublisher (ros::NodeHandle *ros_node, Costmap2D *costmap, std::string global_frame, std::string topic_name, bool always_send_full_costmap=false)
	Constructor for the Costmap2DPublisher. More...
void	publishCostmap ()
	Publishes the visualization data over ROS. More...
void	updateBounds (unsigned int x0, unsigned int xn, unsigned int y0, unsigned int yn)
	Include the given bounds in the changed-rectangle. More...
	~Costmap2DPublisher ()
	Destructor. More...

Private Member Functions
void	onNewSubscription (const ros::SingleSubscriberPublisher &pub)
	Publish the latest full costmap to the new subscriber. More...
void	prepareGrid ()
	Prepare grid_ message for publication. More...

Private Attributes
bool	active_
bool	always_send_full_costmap_
Costmap2D *	costmap_
ros::Publisher	costmap_pub_
ros::Publisher	costmap_update_pub_
std::string	global_frame_
nav_msgs::OccupancyGrid	grid_
ros::NodeHandle *	node
double	saved_origin_x_
double	saved_origin_y_
unsigned int	x0_
unsigned int	xn_
unsigned int	y0_
unsigned int	yn_

Static Private Attributes
static char *	cost_translation_table_ = NULL
	Translate from 0-255 values in costmap to -1 to 100 values in message. More...

Detailed Description

A tool to periodically publish visualization data from a Costmap2D.

Definition at line 52 of file costmap_2d_publisher.h.

Constructor & Destructor Documentation

costmap_2d::Costmap2DPublisher::Costmap2DPublisher	(	ros::NodeHandle *	ros_node,
		Costmap2D *	costmap,
		std::string	global_frame,
		std::string	topic_name,
		bool	always_send_full_costmap = false
	)

Constructor for the Costmap2DPublisher.

Definition at line 47 of file costmap_2d_publisher.cpp.

costmap_2d::Costmap2DPublisher::~Costmap2DPublisher

(

)

Destructor.

Definition at line 79 of file costmap_2d_publisher.cpp.

Member Function Documentation

bool costmap_2d::Costmap2DPublisher::active ( )

inline

Check if the publisher is active.

Returns

True if the frequency for the publisher is non-zero, false otherwise

Definition at line 84 of file costmap_2d_publisher.h.

void costmap_2d::Costmap2DPublisher::onNewSubscription ( const ros::SingleSubscriberPublisher &  pub )

private

Publish the latest full costmap to the new subscriber.

Definition at line 83 of file costmap_2d_publisher.cpp.

void costmap_2d::Costmap2DPublisher::prepareGrid ( )

private

Prepare grid_ message for publication.

Definition at line 90 of file costmap_2d_publisher.cpp.

void costmap_2d::Costmap2DPublisher::publishCostmap

(

)

Publishes the visualization data over ROS.

Definition at line 120 of file costmap_2d_publisher.cpp.

void costmap_2d::Costmap2DPublisher::updateBounds ( unsigned int  x0, unsigned int  xn, unsigned int  y0, unsigned int  yn  )

inline

Include the given bounds in the changed-rectangle.

Definition at line 67 of file costmap_2d_publisher.h.

Member Data Documentation

bool costmap_2d::Costmap2DPublisher::active_

private

Definition at line 101 of file costmap_2d_publisher.h.

bool costmap_2d::Costmap2DPublisher::always_send_full_costmap_

private

Definition at line 102 of file costmap_2d_publisher.h.

char * costmap_2d::Costmap2DPublisher::cost_translation_table_ = NULL

staticprivate

Translate from 0-255 values in costmap to -1 to 100 values in message.

Definition at line 106 of file costmap_2d_publisher.h.

Costmap2D* costmap_2d::Costmap2DPublisher::costmap_

private

Definition at line 97 of file costmap_2d_publisher.h.

ros::Publisher costmap_2d::Costmap2DPublisher::costmap_pub_

private

Definition at line 103 of file costmap_2d_publisher.h.

ros::Publisher costmap_2d::Costmap2DPublisher::costmap_update_pub_

private

Definition at line 104 of file costmap_2d_publisher.h.

std::string costmap_2d::Costmap2DPublisher::global_frame_

private

Definition at line 98 of file costmap_2d_publisher.h.

nav_msgs::OccupancyGrid costmap_2d::Costmap2DPublisher::grid_

private

Definition at line 105 of file costmap_2d_publisher.h.

ros::NodeHandle* costmap_2d::Costmap2DPublisher::node

private

Definition at line 96 of file costmap_2d_publisher.h.

double costmap_2d::Costmap2DPublisher::saved_origin_x_

private

Definition at line 100 of file costmap_2d_publisher.h.

double costmap_2d::Costmap2DPublisher::saved_origin_y_

private

Definition at line 100 of file costmap_2d_publisher.h.

unsigned int costmap_2d::Costmap2DPublisher::x0_

private

Definition at line 99 of file costmap_2d_publisher.h.

unsigned int costmap_2d::Costmap2DPublisher::xn_

private

Definition at line 99 of file costmap_2d_publisher.h.

unsigned int costmap_2d::Costmap2DPublisher::y0_

private

Definition at line 99 of file costmap_2d_publisher.h.

unsigned int costmap_2d::Costmap2DPublisher::yn_

private

Definition at line 99 of file costmap_2d_publisher.h.

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The documentation for this class was generated from the following files:

• costmap_2d_publisher.h
• costmap_2d_publisher.cpp