An interface for publishing NavGridOfChars/OccupancyGrid msgs and their updates periodically. More...

Inheritance diagram for nav_grid_pub_sub::NavGridPublisher:

Public Member Functions
void	setCostInterpretation (const std::vector< unsigned char > &cost_interpretation_table)

Public Member Functions inherited from nav_grid_pub_sub::GenericGridPublisher< unsigned char, nav_2d_msgs::NavGridOfChars, nav_2d_msgs::NavGridOfCharsUpdate >
	GenericGridPublisher (nav_grid::NavGrid< unsigned char > &data)

void	init (ros::NodeHandle &nh, const std::string &nav_grid_topic="grid", const std::string &occupancy_grid_topic="costmap", const std::string &update_area_topic="update_area", bool publish_updates=true, ros::Duration full_publish_cycle=ros::Duration(0), ros::Duration update_publish_cycle=ros::Duration(0))
	Initialize method for determining what gets published when. More...

void	publish ()
	Publish the full grid if the full_publish_cycle allows. More...

void	publish (const nav_core2::UIntBounds &bounds)
	Publish the full grid or updates, as dictated by parameters passed to init. More...

Protected Member Functions
nav_msgs::OccupancyGrid	toOccupancyGrid (const ros::Time &timestamp) override

map_msgs::OccupancyGridUpdate	toOccupancyGridUpdate (const nav_core2::UIntBounds &bounds, const ros::Time &timestamp) override

Protected Member Functions inherited from nav_grid_pub_sub::GenericGridPublisher< unsigned char, nav_2d_msgs::NavGridOfChars, nav_2d_msgs::NavGridOfCharsUpdate >
void	createPublishers (ros::NodeHandle &nh, const std::string &topic, Callback new_subscription_callback, ros::Publisher &full_grid_pub, ros::Publisher &update_pub, bool publish_updates)

void	onNewSubscriptionNav (const ros::SingleSubscriberPublisher &pub)

void	onNewSubscriptionOcc (const ros::SingleSubscriberPublisher &pub)

void	publishNav ()

void	publishNavUpdate (const nav_core2::UIntBounds &bounds)

void	publishOcc ()

void	publishOccUpdate (const nav_core2::UIntBounds &bounds)

void	publishUpdateArea (const nav_grid::NavGridInfo &info, const nav_core2::UIntBounds &bounds)

bool	shouldPublishFull () const

bool	shouldPublishHelper (const ros::Time &last_publish, const ros::Duration &cycle) const

bool	shouldPublishUpdate () const

Protected Attributes
std::vector< unsigned char >	cost_interpretation_table_ { OCC_GRID_PUBLISHING }

Protected Attributes inherited from nav_grid_pub_sub::GenericGridPublisher< unsigned char, nav_2d_msgs::NavGridOfChars, nav_2d_msgs::NavGridOfCharsUpdate >
nav_grid::NavGrid< unsigned char > &	data_

ros::Duration	full_publish_cycle_

ros::Time	last_full_publish_

ros::Time	last_update_publish_

ros::Publisher	nav_pub_

ros::Publisher	nav_update_pub_

ros::Publisher	occ_pub_

ros::Publisher	occ_update_pub_

bool	publish_updates_

nav_grid::NavGridInfo	saved_info_

ros::Time	synced_time_stamp_

ros::Publisher	update_area_pub_

nav_core2::UIntBounds	update_bounds_

ros::Duration	update_publish_cycle_

Detailed Description

An interface for publishing NavGridOfChars/OccupancyGrid msgs and their updates periodically.

Uses the cost_interpretation_table_ to define how to translate to OccupancyGrid messages

Definition at line 334 of file nav_grid_publisher.h.

Member Function Documentation

void nav_grid_pub_sub::NavGridPublisher::setCostInterpretation ( const std::vector< unsigned char > & cost_interpretation_table )

inline

Definition at line 341 of file nav_grid_publisher.h.

nav_msgs::OccupancyGrid nav_grid_pub_sub::NavGridPublisher::toOccupancyGrid ( const ros::Time & timestamp )

inlineoverrideprotectedvirtual

Definition at line 346 of file nav_grid_publisher.h.

map_msgs::OccupancyGridUpdate nav_grid_pub_sub::NavGridPublisher::toOccupancyGridUpdate	(	const nav_core2::UIntBounds &	bounds,
		const ros::Time &	timestamp
	)

inlineoverrideprotectedvirtual

Definition at line 351 of file nav_grid_publisher.h.

std::vector<unsigned char> nav_grid_pub_sub::NavGridPublisher::cost_interpretation_table_ { OCC_GRID_PUBLISHING }

protected

Definition at line 356 of file nav_grid_publisher.h.

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