Public Member Functions | Private Attributes | List of all members
grid_map_demos::OctomapToGridmapDemo Class Reference

#include <OctomapToGridmapDemo.hpp>

Public Member Functions

void convertAndPublishMap ()
 
 OctomapToGridmapDemo (ros::NodeHandle &nodeHandle)
 
bool readParameters ()
 
virtual ~OctomapToGridmapDemo ()
 

Private Attributes

ros::ServiceClient client_
 Octomap service client. More...
 
ros::Publisher gridMapPublisher_
 Grid map publisher. More...
 
grid_map::GridMap map_
 Grid map data. More...
 
float maxX_
 
float maxY_
 
float maxZ_
 
float minX_
 Bounding box of octomap to convert. More...
 
float minY_
 
float minZ_
 
ros::NodeHandlenodeHandle_
 ROS nodehandle. More...
 
ros::Publisher octomapPublisher_
 Octomap publisher. More...
 
std::string octomapServiceTopic_
 Name of the grid map topic. More...
 

Detailed Description

Receives a volumetric OctoMap and converts it to a grid map with an elevation layer. The grid map is published and can be viewed in Rviz.

Definition at line 24 of file OctomapToGridmapDemo.hpp.

Constructor & Destructor Documentation

grid_map_demos::OctomapToGridmapDemo::OctomapToGridmapDemo ( ros::NodeHandle nodeHandle)

Constructor.

Parameters
nodeHandlethe ROS node handle.

Definition at line 20 of file OctomapToGridmapDemo.cpp.

grid_map_demos::OctomapToGridmapDemo::~OctomapToGridmapDemo ( )
virtual

Destructor.

Definition at line 31 of file OctomapToGridmapDemo.cpp.

Member Function Documentation

void grid_map_demos::OctomapToGridmapDemo::convertAndPublishMap ( )

Definition at line 47 of file OctomapToGridmapDemo.cpp.

bool grid_map_demos::OctomapToGridmapDemo::readParameters ( )

Reads and verifies the ROS parameters.

Returns
true if successful.

Definition at line 35 of file OctomapToGridmapDemo.cpp.

Member Data Documentation

ros::ServiceClient grid_map_demos::OctomapToGridmapDemo::client_
private

Octomap service client.

Definition at line 65 of file OctomapToGridmapDemo.hpp.

ros::Publisher grid_map_demos::OctomapToGridmapDemo::gridMapPublisher_
private

Grid map publisher.

Definition at line 53 of file OctomapToGridmapDemo.hpp.

grid_map::GridMap grid_map_demos::OctomapToGridmapDemo::map_
private

Grid map data.

Definition at line 59 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::maxX_
private

Definition at line 69 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::maxY_
private

Definition at line 71 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::maxZ_
private

Definition at line 73 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::minX_
private

Bounding box of octomap to convert.

Definition at line 68 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::minY_
private

Definition at line 70 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::minZ_
private

Definition at line 72 of file OctomapToGridmapDemo.hpp.

ros::NodeHandle& grid_map_demos::OctomapToGridmapDemo::nodeHandle_
private

ROS nodehandle.

Definition at line 50 of file OctomapToGridmapDemo.hpp.

ros::Publisher grid_map_demos::OctomapToGridmapDemo::octomapPublisher_
private

Octomap publisher.

Definition at line 56 of file OctomapToGridmapDemo.hpp.

std::string grid_map_demos::OctomapToGridmapDemo::octomapServiceTopic_
private

Name of the grid map topic.

Definition at line 62 of file OctomapToGridmapDemo.hpp.


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


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