ImageToGridmapDemo.hpp
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1 /*
2  * ImageToGridmapDemo.hpp
3  *
4  * Created on: May 4, 2015
5  * Author: Martin Wermelinger
6  * Institute: ETH Zurich, ANYbotics
7  *
8  */
9 
10 #pragma once
11 
12 // ROS
13 #include <ros/ros.h>
14 #include <sensor_msgs/Image.h>
15 
17 
18 #include <string>
19 
20 namespace grid_map_demos {
21 
27 {
28  public:
29 
35 
39  virtual ~ImageToGridmapDemo();
40 
45  bool readParameters();
46 
47  void imageCallback(const sensor_msgs::Image& msg);
48 
49  private:
50 
53 
56 
59 
62 
64  std::string imageTopic_;
65 
67  double mapLengthX_;
68 
70  double resolution_;
71 
73  double minHeight_;
74  double maxHeight_;
75 
77  std::string mapFrameId_;
78 
80 };
81 
82 } /* namespace */
void imageCallback(const sensor_msgs::Image &msg)
double mapLengthX_
Length of the grid map in x direction.
grid_map::GridMap map_
Grid map data.
ros::Subscriber imageSubscriber_
Image subscriber.
ros::Publisher gridMapPublisher_
Grid map publisher.
double minHeight_
Range of the height values.
double resolution_
Resolution of the grid map.
std::string mapFrameId_
Frame id of the grid map.
ImageToGridmapDemo(ros::NodeHandle &nodeHandle)
std::string imageTopic_
Name of the grid map topic.
ros::NodeHandle & nodeHandle_
ROS nodehandle.


grid_map_demos
Author(s): Péter Fankhauser
autogenerated on Tue Jun 1 2021 02:13:55