grid_map_demos::SdfDemo Class Reference

#include <SdfDemo.hpp>

Public Member Functions
	SdfDemo (ros::NodeHandle &nodeHandle, const std::string &mapTopic, std::string elevationLayer, const std::string &pointcloudTopic)

Private Member Functions
void	callback (const grid_map_msgs::GridMap &message)

Private Attributes
std::string	elevationLayer_
	Elevation layer in the received grid map. More...
ros::Publisher	freespacePublisher_
	Free space publisher. More...
ros::Subscriber	gridmapSubscriber_
	Grid map subscriber. More...
ros::Publisher	occupiedPublisher_
	Occupied space publisher. More...
ros::Publisher	pointcloudPublisher_
	Pointcloud publisher. More...

Detailed Description

Subscribes to a gridmap, converts it to a signed distance field, and publishes the signed distance field as a pointcloud.

Definition at line 25 of file SdfDemo.hpp.

Constructor & Destructor Documentation

SdfDemo()

grid_map_demos::SdfDemo::SdfDemo	(	ros::NodeHandle &	nodeHandle,
		const std::string &	mapTopic,
		std::string	elevationLayer,
		const std::string &	pointcloudTopic
	)

Constructor.

Parameters

nodeHandle	: the ROS node handle.
mapTopic	: grid map topic to subscribe to
elevationLayer	: name of the elevation layer
pointcloudTopic	: point cloud topic to publish the result to

Definition at line 18 of file SdfDemo.cpp.

Member Function Documentation

callback()

void grid_map_demos::SdfDemo::callback ( const grid_map_msgs::GridMap &  message )

private

Definition at line 26 of file SdfDemo.cpp.

Member Data Documentation

elevationLayer_

std::string grid_map_demos::SdfDemo::elevationLayer_

private

Elevation layer in the received grid map.

Definition at line 53 of file SdfDemo.hpp.

freespacePublisher_

ros::Publisher grid_map_demos::SdfDemo::freespacePublisher_

private

Free space publisher.

Definition at line 47 of file SdfDemo.hpp.

gridmapSubscriber_

ros::Subscriber grid_map_demos::SdfDemo::gridmapSubscriber_

private

Grid map subscriber.

Definition at line 41 of file SdfDemo.hpp.

occupiedPublisher_

ros::Publisher grid_map_demos::SdfDemo::occupiedPublisher_

private

Occupied space publisher.

Definition at line 50 of file SdfDemo.hpp.

pointcloudPublisher_

ros::Publisher grid_map_demos::SdfDemo::pointcloudPublisher_

private

Pointcloud publisher.

Definition at line 44 of file SdfDemo.hpp.

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

• SdfDemo.hpp
• SdfDemo.cpp