An interface for publishing NavGridOfChars/OccupancyGrid msgs and their updates periodically. More...
#include <nav_grid_publisher.h>
Public Member Functions | |
void | setCostInterpretation (const std::vector< unsigned char > &cost_interpretation_table) |
Public Member Functions inherited from nav_grid_pub_sub::GenericGridPublisher< unsigned char, nav_2d_msgs::NavGridOfChars, nav_2d_msgs::NavGridOfCharsUpdate > | |
GenericGridPublisher (nav_grid::NavGrid< unsigned char > &data) | |
void | init (ros::NodeHandle &nh, const std::string &nav_grid_topic="grid", const std::string &occupancy_grid_topic="costmap", const std::string &update_area_topic="update_area", bool publish_updates=true, ros::Duration full_publish_cycle=ros::Duration(0), ros::Duration update_publish_cycle=ros::Duration(0)) |
Initialize method for determining what gets published when. More... | |
void | publish () |
Publish the full grid if the full_publish_cycle allows. More... | |
void | publish (const nav_core2::UIntBounds &bounds) |
Publish the full grid or updates, as dictated by parameters passed to init. More... | |
Protected Attributes | |
std::vector< unsigned char > | cost_interpretation_table_ { OCC_GRID_PUBLISHING } |
Protected Attributes inherited from nav_grid_pub_sub::GenericGridPublisher< unsigned char, nav_2d_msgs::NavGridOfChars, nav_2d_msgs::NavGridOfCharsUpdate > | |
nav_grid::NavGrid< unsigned char > & | data_ |
ros::Duration | full_publish_cycle_ |
ros::Time | last_full_publish_ |
ros::Time | last_update_publish_ |
ros::Publisher | nav_pub_ |
ros::Publisher | nav_update_pub_ |
ros::Publisher | occ_pub_ |
ros::Publisher | occ_update_pub_ |
bool | publish_updates_ |
nav_grid::NavGridInfo | saved_info_ |
ros::Time | synced_time_stamp_ |
ros::Publisher | update_area_pub_ |
nav_core2::UIntBounds | update_bounds_ |
ros::Duration | update_publish_cycle_ |
An interface for publishing NavGridOfChars/OccupancyGrid msgs and their updates periodically.
Uses the cost_interpretation_table_ to define how to translate to OccupancyGrid messages
Definition at line 334 of file nav_grid_publisher.h.
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inline |
Definition at line 341 of file nav_grid_publisher.h.
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inlineoverrideprotectedvirtual |
Definition at line 346 of file nav_grid_publisher.h.
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inlineoverrideprotectedvirtual |
Definition at line 351 of file nav_grid_publisher.h.
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protected |
Definition at line 356 of file nav_grid_publisher.h.