OctomapToGridmapDemo.hpp
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1 /*
2  * OctomapToGridmapDemo.hpp
3  *
4  * Created on: May 03, 2017
5  * Author: Jeff Delmerico
6  * Institute: University of Zürich, Robotics and Perception Group
7  */
8 
9 #pragma once
10 
11 // ROS
12 #include <ros/ros.h>
13 
15 
16 #include <string>
17 
18 namespace grid_map_demos {
19 
25 {
26  public:
27 
33 
37  virtual ~OctomapToGridmapDemo();
38 
43  bool readParameters();
44 
45  void convertAndPublishMap();
46 
47  private:
48 
51 
54 
57 
60 
62  std::string octomapServiceTopic_;
63 
66 
68  float minX_;
69  float maxX_;
70  float minY_;
71  float maxY_;
72  float minZ_;
73  float maxZ_;
74 };
75 
76 } /* namespace */
OctomapToGridmapDemo(ros::NodeHandle &nodeHandle)
ros::ServiceClient client_
Octomap service client.
float minX_
Bounding box of octomap to convert.
ros::Publisher octomapPublisher_
Octomap publisher.
ros::Publisher gridMapPublisher_
Grid map publisher.
std::string octomapServiceTopic_
Name of the grid map topic.
ros::NodeHandle & nodeHandle_
ROS nodehandle.
grid_map::GridMap map_
Grid map data.


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