map_server_node.h
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33 
34 #ifndef MRPT_MAP_SERVER_NODE_H
35 #define MRPT_MAP_SERVER_NODE_H
36 
37 #include "ros/ros.h"
38 #include "nav_msgs/MapMetaData.h"
39 #include "nav_msgs/GetMap.h"
40 #include "boost/smart_ptr.hpp"
41 
42 #include <mrpt/version.h>
43 #if MRPT_VERSION >= 0x199
44 #include <mrpt/config/CConfigFile.h>
45 using namespace mrpt::config;
46 #else
47 #include <mrpt/utils/CConfigFile.h>
48 using namespace mrpt::utils;
49 #endif
50 
51 #include <mrpt/maps/CMultiMetricMap.h>
52 using mrpt::maps::CMultiMetricMap;
53 
54 class MapServer
55 {
56  public:
58  ~MapServer();
59  void init();
60  void loop();
61 
62  private:
64  ros::NodeHandle n_param_{"~"};
65  double frequency_{0};
66  unsigned long loop_count_{0};
67  bool debug_{true};
71  nav_msgs::GetMap::Response resp_ros_;
73  void publishMap();
74  bool mapCallback(
75  nav_msgs::GetMap::Request& req, nav_msgs::GetMap::Response& res);
76 };
77 
78 #endif // MRPT_MAP_SERVER_NODE_H
nav_msgs::GetMap::Response resp_ros_
ros::NodeHandle n_
boost::shared_ptr< CMultiMetricMap > metric_map_
ros::ServiceServer service_map_
ros::Publisher pub_map_ros_
ros::Publisher pub_metadata_


mrpt_map
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autogenerated on Thu Jun 6 2019 19:44:51