MapServer Class Reference

Public Member Functions
	MapServer (const std::string &fname, double res)

Private Member Functions
bool	changeMapCallback (nav_msgs::LoadMap::Request &request, nav_msgs::LoadMap::Response &response)
bool	loadMapFromParams (std::string map_file_name, double resolution)
bool	loadMapFromValues (std::string map_file_name, double resolution, int negate, double occ_th, double free_th, double origin[3], MapMode mode)
bool	loadMapFromYaml (std::string path_to_yaml)
bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)

Private Attributes
ros::ServiceServer	change_map_srv_
bool	deprecated_
std::string	frame_id_
ros::ServiceServer	get_map_service_
ros::Publisher	map_pub_
nav_msgs::GetMap::Response	map_resp_
nav_msgs::MapMetaData	meta_data_message_
ros::Publisher	metadata_pub_
ros::NodeHandle	nh_

Detailed Description

Definition at line 60 of file main.cpp.

Constructor & Destructor Documentation

MapServer()

MapServer::MapServer ( const std::string &  fname, double  res  )

inline

Trivial constructor

Definition at line 64 of file main.cpp.

Member Function Documentation

changeMapCallback()

bool MapServer::changeMapCallback ( nav_msgs::LoadMap::Request &  request, nav_msgs::LoadMap::Response &  response  )

inlineprivate

Callback invoked when someone requests to change the map

Definition at line 123 of file main.cpp.

loadMapFromParams()

bool MapServer::loadMapFromParams ( std::string  map_file_name, double  resolution  )

inlineprivate

Load a map using the deprecated method

Definition at line 173 of file main.cpp.

loadMapFromValues()

bool MapServer::loadMapFromValues ( std::string  map_file_name, double  resolution, int  negate, double  occ_th, double  free_th, double  origin[3], MapMode  mode  )

inlineprivate

Load a map given all the values needed to understand it

Definition at line 140 of file main.cpp.

loadMapFromYaml()

bool MapServer::loadMapFromYaml ( std::string  path_to_yaml )

inlineprivate

Load a map given a path to a yaml file

Definition at line 189 of file main.cpp.

mapCallback()

bool MapServer::mapCallback ( nav_msgs::GetMap::Request &  req, nav_msgs::GetMap::Response &  res  )

inlineprivate

Callback invoked when someone requests our service

Definition at line 110 of file main.cpp.

Member Data Documentation

change_map_srv_

ros::ServiceServer MapServer::change_map_srv_

private

Definition at line 105 of file main.cpp.

deprecated_

bool MapServer::deprecated_

private

Definition at line 106 of file main.cpp.

frame_id_

std::string MapServer::frame_id_

private

Definition at line 107 of file main.cpp.

get_map_service_

ros::ServiceServer MapServer::get_map_service_

private

Definition at line 104 of file main.cpp.

map_pub_

ros::Publisher MapServer::map_pub_

private

Definition at line 102 of file main.cpp.

map_resp_

nav_msgs::GetMap::Response MapServer::map_resp_

private

Definition at line 288 of file main.cpp.

meta_data_message_

nav_msgs::MapMetaData MapServer::meta_data_message_

private

The map data is cached here, to be sent out to service callers

Definition at line 287 of file main.cpp.

metadata_pub_

ros::Publisher MapServer::metadata_pub_

private

Definition at line 103 of file main.cpp.

nh_

ros::NodeHandle MapServer::nh_

private

Definition at line 101 of file main.cpp.

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

• main.cpp