GridmapToImageDemo.hpp

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/*
 * GridMapToImageDemo.hpp
 *
 *  Created on: Oktober 19, 2020
 *      Author: Magnus Gärtner
 *       Institute: ETH Zurich, ANYbotics
 *
 */

#pragma once

// ROS
#include <ros/ros.h>

#include <string>

#include <grid_map_msgs/GridMap.h>
#include <grid_map_ros/grid_map_ros.hpp>

namespace grid_map_demos {

class GridMapToImageDemo {
 public:
  GridMapToImageDemo(ros::NodeHandle& nodeHandle);

  virtual ~GridMapToImageDemo();

 private:
  void readParameters();

  void gridMapCallback(const grid_map_msgs::GridMap& msg);

  ros::NodeHandle& nodeHandle_;

  ros::Subscriber gridMapSubscriber_;

  std::string gridMapTopic_;

  std::string filePath_;
};

}  // namespace grid_map_demos