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

Inheritance diagram for nav_grid_pub_sub::ScaleGridPublisher< NumericType >:

Public Member Functions
void	setIgnoreValue (NumericType ignore_value)

Public Member Functions inherited from nav_grid_pub_sub::GenericGridPublisher< NumericType, nav_2d_msgs::NavGridOfDoubles, nav_2d_msgs::NavGridOfDoublesUpdate >
	GenericGridPublisher (nav_grid::NavGrid< NumericType > &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< NumericType, nav_2d_msgs::NavGridOfDoubles, nav_2d_msgs::NavGridOfDoublesUpdate >
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
NumericType	ignore_value_ { std::numeric_limits<NumericType>::max() }

NumericType	max_val_

NumericType	min_val_

Protected Attributes inherited from nav_grid_pub_sub::GenericGridPublisher< NumericType, nav_2d_msgs::NavGridOfDoubles, nav_2d_msgs::NavGridOfDoublesUpdate >
nav_grid::NavGrid< NumericType > &	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