grid_map_demos::OctomapToGridmapDemo Class Reference

#include <OctomapToGridmapDemo.hpp>

Public Member Functions
void	convertAndPublishMap ()
	OctomapToGridmapDemo (ros::NodeHandle &nodeHandle)
bool	readParameters ()
virtual	~OctomapToGridmapDemo ()

Private Attributes
ros::ServiceClient	client_
	Octomap service client. More...
ros::Publisher	gridMapPublisher_
	Grid map publisher. More...
grid_map::GridMap	map_
	Grid map data. More...
float	maxX_
float	maxY_
float	maxZ_
float	minX_
	Bounding box of octomap to convert. More...
float	minY_
float	minZ_
ros::NodeHandle &	nodeHandle_
	ROS nodehandle. More...
ros::Publisher	octomapPublisher_
	Octomap publisher. More...
std::string	octomapServiceTopic_
	Name of the grid map topic. More...

Detailed Description

Receives a volumetric OctoMap and converts it to a grid map with an elevation layer. The grid map is published and can be viewed in Rviz.

Definition at line 24 of file OctomapToGridmapDemo.hpp.

Constructor & Destructor Documentation

grid_map_demos::OctomapToGridmapDemo::OctomapToGridmapDemo

(

ros::NodeHandle &

nodeHandle

)

Constructor.

Parameters

nodeHandle

the ROS node handle.

Definition at line 20 of file OctomapToGridmapDemo.cpp.

grid_map_demos::OctomapToGridmapDemo::~OctomapToGridmapDemo ( )

virtual

Destructor.

Definition at line 31 of file OctomapToGridmapDemo.cpp.

Member Function Documentation

void grid_map_demos::OctomapToGridmapDemo::convertAndPublishMap

(

)

Definition at line 47 of file OctomapToGridmapDemo.cpp.

bool grid_map_demos::OctomapToGridmapDemo::readParameters

(

)

Reads and verifies the ROS parameters.

Returns

true if successful.

Definition at line 35 of file OctomapToGridmapDemo.cpp.

Member Data Documentation

ros::ServiceClient grid_map_demos::OctomapToGridmapDemo::client_

private

Octomap service client.

Definition at line 65 of file OctomapToGridmapDemo.hpp.

ros::Publisher grid_map_demos::OctomapToGridmapDemo::gridMapPublisher_

private

Grid map publisher.

Definition at line 53 of file OctomapToGridmapDemo.hpp.

grid_map::GridMap grid_map_demos::OctomapToGridmapDemo::map_

private

Grid map data.

Definition at line 59 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::maxX_

private

Definition at line 69 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::maxY_

private

Definition at line 71 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::maxZ_

private

Definition at line 73 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::minX_

private

Bounding box of octomap to convert.

Definition at line 68 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::minY_

private

Definition at line 70 of file OctomapToGridmapDemo.hpp.

float grid_map_demos::OctomapToGridmapDemo::minZ_

private

Definition at line 72 of file OctomapToGridmapDemo.hpp.

ros::NodeHandle& grid_map_demos::OctomapToGridmapDemo::nodeHandle_

private

ROS nodehandle.

Definition at line 50 of file OctomapToGridmapDemo.hpp.

ros::Publisher grid_map_demos::OctomapToGridmapDemo::octomapPublisher_

private

Octomap publisher.

Definition at line 56 of file OctomapToGridmapDemo.hpp.

std::string grid_map_demos::OctomapToGridmapDemo::octomapServiceTopic_

private

Name of the grid map topic.

Definition at line 62 of file OctomapToGridmapDemo.hpp.

---

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

• OctomapToGridmapDemo.hpp
• OctomapToGridmapDemo.cpp