map_grid_visualizer.cpp

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#include <base_local_planner/map_grid_visualizer.h>
#include <base_local_planner/map_cell.h>
#include <vector>

#include <pcl_conversions/pcl_conversions.h>

namespace base_local_planner {
  MapGridVisualizer::MapGridVisualizer() {}


  void MapGridVisualizer::initialize(const std::string& name, std::string frame_id, boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function) {
    name_ = name;
    cost_function_ = cost_function;

    ns_nh_ = ros::NodeHandle("~/" + name_);

    cost_cloud_ = new pcl::PointCloud<MapGridCostPoint>;
    cost_cloud_->header.frame_id = frame_id;
    pub_.advertise(ns_nh_, "cost_cloud", 1);
  }

  void MapGridVisualizer::publishCostCloud(const costmap_2d::Costmap2D* costmap_p_) {
    unsigned int x_size = costmap_p_->getSizeInCellsX();
    unsigned int y_size = costmap_p_->getSizeInCellsY();
    double z_coord = 0.0;
    double x_coord, y_coord;
    MapGridCostPoint pt;
    cost_cloud_->points.clear();
    std_msgs::Header header = pcl_conversions::fromPCL(cost_cloud_->header);
    header.stamp = ros::Time::now();
    cost_cloud_->header = pcl_conversions::toPCL(header);
    float path_cost, goal_cost, occ_cost, total_cost;
    for (unsigned int cx = 0; cx < x_size; cx++) {
      for (unsigned int cy = 0; cy < y_size; cy++) {
        costmap_p_->mapToWorld(cx, cy, x_coord, y_coord);
        if (cost_function_(cx, cy, path_cost, goal_cost, occ_cost, total_cost)) {
          pt.x = x_coord;
          pt.y = y_coord;
          pt.z = z_coord;
          pt.path_cost = path_cost;
          pt.goal_cost = goal_cost;
          pt.occ_cost = occ_cost;
          pt.total_cost = total_cost;
          cost_cloud_->push_back(pt);
        }
      }
    }
    pub_.publish(*cost_cloud_);
    ROS_DEBUG("Cost PointCloud published");
  }
};