grid_map_demos::GridMapToImageDemo Class Reference

#include <GridmapToImageDemo.hpp>

Public Member Functions
	GridMapToImageDemo (ros::NodeHandle &nodeHandle)
virtual	~GridMapToImageDemo ()

Private Member Functions
void	gridMapCallback (const grid_map_msgs::GridMap &msg)
	The callback receiving the grid map. It will convert the elevation layer into a png image and save it to the specified location. Afterwards the node will terminate. More...
void	readParameters ()
	Reads and verifies the ROS parameters. More...

Private Attributes
std::string	filePath_
	Path where to store the image. More...
ros::Subscriber	gridMapSubscriber_
	GridMap subscriber. More...
std::string	gridMapTopic_
	Name of the grid map topic. More...
ros::NodeHandle &	nodeHandle_
	ROS nodehandle. More...

Detailed Description

Saves an ElevationMapping layer as image.

Definition at line 25 of file GridmapToImageDemo.hpp.

Constructor & Destructor Documentation

GridMapToImageDemo()

grid_map_demos::GridMapToImageDemo::GridMapToImageDemo

(

ros::NodeHandle &

nodeHandle

)

Constructor.

Parameters

nodeHandle

the ROS node handle.

Definition at line 16 of file GridmapToImageDemo.cpp.

~GridMapToImageDemo()

grid_map_demos::GridMapToImageDemo::~GridMapToImageDemo ( )

virtualdefault

Destructor.

Member Function Documentation

gridMapCallback()

void grid_map_demos::GridMapToImageDemo::gridMapCallback ( const grid_map_msgs::GridMap &  msg )

private

The callback receiving the grid map. It will convert the elevation layer into a png image and save it to the specified location. Afterwards the node will terminate.

Parameters

msg	the recieved grid map to save to a file.

Definition at line 32 of file GridmapToImageDemo.cpp.

readParameters()

void grid_map_demos::GridMapToImageDemo::readParameters ( )

private

Reads and verifies the ROS parameters.

Definition at line 26 of file GridmapToImageDemo.cpp.

Member Data Documentation

filePath_

std::string grid_map_demos::GridMapToImageDemo::filePath_

private

Path where to store the image.

Definition at line 61 of file GridmapToImageDemo.hpp.

gridMapSubscriber_

ros::Subscriber grid_map_demos::GridMapToImageDemo::gridMapSubscriber_

private

GridMap subscriber.

Definition at line 55 of file GridmapToImageDemo.hpp.

gridMapTopic_

std::string grid_map_demos::GridMapToImageDemo::gridMapTopic_

private

Name of the grid map topic.

Definition at line 58 of file GridmapToImageDemo.hpp.

nodeHandle_

ros::NodeHandle& grid_map_demos::GridMapToImageDemo::nodeHandle_

private

ROS nodehandle.

Definition at line 52 of file GridmapToImageDemo.hpp.

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

• GridmapToImageDemo.hpp
• GridmapToImageDemo.cpp