occupancy_grid_display.cpp

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#include <robot_nav_rviz_plugins/nav_grid_display.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_grid_pub_sub/nav_grid_subscriber.h>
#include <string>

namespace robot_nav_rviz_plugins
{
class OccupancyGridDisplay: public NavGridDisplay
{
public:
  OccupancyGridDisplay()
    : NavGridDisplay(ros::message_traits::datatype<nav_msgs::OccupancyGrid>())
    , sub_(panel_data_)  // set up the subscriber to update directly into `panel_data_`
  {
  }

  void onSubscribe(const std::string& topic) override
  {
    // Same arguments as in NavGridOfCharsDisplay but the penultimate parameter false means
    // subscribe to OccupancyGrids instead of NavGrids
    sub_.init(update_nh_, std::bind(&OccupancyGridDisplay::newDataCallback, this, std::placeholders::_1),
              topic, false, true);
  }

  void onUnsubscribe() override
  {
    sub_.deactivate();
  }

protected:
  void newDataCallback(const nav_core2::UIntBounds& bounds)
  {
    if (bounds.isEmpty())
    {
      return;
    }
    Q_EMIT mapUpdated(bounds);
  }

  nav_grid_pub_sub::NavGridSubscriber sub_;
};
}  // namespace robot_nav_rviz_plugins

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(robot_nav_rviz_plugins::OccupancyGridDisplay, rviz::Display)