explore::Costmap2DClient Class Reference

#include <costmap_client.h>

Public Member Functions
	Costmap2DClient (ros::NodeHandle &param_nh, ros::NodeHandle &subscription_nh, const tf::TransformListener *tf_listener)
	Contructs client and start listening. More...
const std::string &	getBaseFrameID () const
	Returns the local frame of the costmap. More...
costmap_2d::Costmap2D *	getCostmap ()
	Return a pointer to the "master" costmap which receives updates from all the layers. More...
const costmap_2d::Costmap2D *	getCostmap () const
	Return a pointer to the "master" costmap which receives updates from all the layers. More...
const std::string &	getGlobalFrameID () const
	Returns the global frame of the costmap. More...
geometry_msgs::Pose	getRobotPose () const
	Get the pose of the robot in the global frame of the costmap. More...

Protected Member Functions
void	updateFullMap (const nav_msgs::OccupancyGrid::ConstPtr &msg)
void	updatePartialMap (const map_msgs::OccupancyGridUpdate::ConstPtr &msg)

Protected Attributes
costmap_2d::Costmap2D	costmap_
std::string	global_frame_
	The global frame for the costmap. More...
std::string	robot_base_frame_
	The frame_id of the robot base. More...
const tf::TransformListener *const	tf_
	Used for transforming point clouds. More...
double	transform_tolerance_
	timeout before transform errors More...

Private Attributes
ros::Subscriber	costmap_sub_
ros::Subscriber	costmap_updates_sub_

Detailed Description

Definition at line 50 of file costmap_client.h.

Constructor & Destructor Documentation

explore::Costmap2DClient::Costmap2DClient	(	ros::NodeHandle &	param_nh,
		ros::NodeHandle &	subscription_nh,
		const tf::TransformListener *	tf_listener
	)

Contructs client and start listening.

Constructor will block until first map update is received and map is ready to use, also will block before trasformation robot_base_frame <-> global_frame is available.

Parameters

param_nh	node hadle to retrieve parameters from
subscription_nh	node hadle where topics will be subscribed
tf_listener	Will be used for transformation of robot pose.

Definition at line 50 of file costmap_client.cpp.

Member Function Documentation

const std::string& explore::Costmap2DClient::getBaseFrameID ( ) const

inline

Returns the local frame of the costmap.

Returns

The local frame of the costmap

Definition at line 106 of file costmap_client.h.

costmap_2d::Costmap2D* explore::Costmap2DClient::getCostmap ( )

inline

Return a pointer to the "master" costmap which receives updates from all the layers.

This pointer will stay the same for the lifetime of Costmap2DClient object.

Definition at line 77 of file costmap_client.h.

const costmap_2d::Costmap2D* explore::Costmap2DClient::getCostmap ( ) const

inline

Return a pointer to the "master" costmap which receives updates from all the layers.

This pointer will stay the same for the lifetime of Costmap2DClient object.

Definition at line 88 of file costmap_client.h.

const std::string& explore::Costmap2DClient::getGlobalFrameID ( ) const

inline

Returns the global frame of the costmap.

Returns

The global frame of the costmap

Definition at line 97 of file costmap_client.h.

geometry_msgs::Pose explore::Costmap2DClient::getRobotPose

(

)

const

Get the pose of the robot in the global frame of the costmap.

Returns

pose of the robot in the global frame of the costmap

Definition at line 190 of file costmap_client.cpp.

void explore::Costmap2DClient::updateFullMap ( const nav_msgs::OccupancyGrid::ConstPtr &  msg )

protected

Definition at line 115 of file costmap_client.cpp.

void explore::Costmap2DClient::updatePartialMap ( const map_msgs::OccupancyGridUpdate::ConstPtr &  msg )

protected

Definition at line 145 of file costmap_client.cpp.

Member Data Documentation

costmap_2d::Costmap2D explore::Costmap2DClient::costmap_

protected

Definition at line 115 of file costmap_client.h.

ros::Subscriber explore::Costmap2DClient::costmap_sub_

private

Definition at line 125 of file costmap_client.h.

ros::Subscriber explore::Costmap2DClient::costmap_updates_sub_

private

Definition at line 126 of file costmap_client.h.

std::string explore::Costmap2DClient::global_frame_

protected

The global frame for the costmap.

Definition at line 119 of file costmap_client.h.

std::string explore::Costmap2DClient::robot_base_frame_

protected

The frame_id of the robot base.

Definition at line 120 of file costmap_client.h.

const tf::TransformListener* const explore::Costmap2DClient::tf_

protected

Used for transforming point clouds.

Definition at line 117 of file costmap_client.h.

double explore::Costmap2DClient::transform_tolerance_

protected

timeout before transform errors

Definition at line 121 of file costmap_client.h.

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

• costmap_client.h
• costmap_client.cpp