RvizGridViewer Class Reference

The class publishes information about robot's map and location in ROS-compatible format so it can be shown by rviz. More...

#include <rviz_grid_viewer.h>

Public Member Functions
	RvizGridViewer (ros::Publisher pub, const double show_map_rate, std::string frame_odom, std::string frame_robot_pose)
void	show_map (const GridMap &map)
void	show_robot_pose (const RobotState &r)

Private Attributes
std::string	_frame_odom
std::string	_frame_robot_pose
ros::Time	_last_pub_time
ros::Publisher	_map_pub
tf::TransformBroadcaster	_tf_brcst
const double	map_publishing_rate

Detailed Description

The class publishes information about robot's map and location in ROS-compatible format so it can be shown by rviz.

Definition at line 17 of file rviz_grid_viewer.h.

Constructor & Destructor Documentation

RvizGridViewer::RvizGridViewer ( ros::Publisher  pub, const double  show_map_rate, std::string  frame_odom, std::string  frame_robot_pose  )

inline

Initializes a map and robot's position publisher.

Parameters

pub	A map publisher to ROS.

Definition at line 24 of file rviz_grid_viewer.h.

Member Function Documentation

void RvizGridViewer::show_map ( const GridMap &  map )

inline

Publishes given GridMap as a ROS message.

Parameters

map	A grid map in framework's internal format.

Definition at line 48 of file rviz_grid_viewer.h.

void RvizGridViewer::show_robot_pose ( const RobotState &  r )

inline

Publishes a robot state as TF message.

Parameters

r	A robot state in internal format.

Definition at line 33 of file rviz_grid_viewer.h.

Member Data Documentation

std::string RvizGridViewer::_frame_odom

private

Definition at line 81 of file rviz_grid_viewer.h.

std::string RvizGridViewer::_frame_robot_pose

private

Definition at line 82 of file rviz_grid_viewer.h.

ros::Time RvizGridViewer::_last_pub_time

private

Definition at line 78 of file rviz_grid_viewer.h.

ros::Publisher RvizGridViewer::_map_pub

private

Definition at line 77 of file rviz_grid_viewer.h.

tf::TransformBroadcaster RvizGridViewer::_tf_brcst

private

Definition at line 79 of file rviz_grid_viewer.h.

const double RvizGridViewer::map_publishing_rate

private

Definition at line 80 of file rviz_grid_viewer.h.

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

• rviz_grid_viewer.h