ImageToGridmapDemo.hpp

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/*
 * ImageToGridmapDemo.hpp
 *
 *  Created on: May 4, 2015
 *      Author: Martin Wermelinger
 *       Institute: ETH Zurich, ANYbotics
 *
 */

#pragma once

// ROS
#include <ros/ros.h>
#include <sensor_msgs/Image.h>

#include <grid_map_ros/grid_map_ros.hpp>

#include <string>

namespace grid_map_demos {

class ImageToGridmapDemo
{
 public:

  ImageToGridmapDemo(ros::NodeHandle& nodeHandle);

  virtual ~ImageToGridmapDemo();

  bool readParameters();

  void imageCallback(const sensor_msgs::Image& msg);

 private:

  ros::NodeHandle& nodeHandle_;

  ros::Publisher gridMapPublisher_;

  grid_map::GridMap map_;

  ros::Subscriber imageSubscriber_;

  std::string imageTopic_;

  double mapLengthX_;

  double resolution_;

  double minHeight_;
  double maxHeight_;

  std::string mapFrameId_;

  bool mapInitialized_;
};

} /* namespace */