Class TrackingOctomapServer

Defined in File tracking_octomap_server.hpp

Inheritance Relationships

Base Type

public octomap_server::OctomapServer (Class OctomapServer)

Class Documentation

class TrackingOctomapServer : public octomap_server::OctomapServer 

Public Functions

explicit TrackingOctomapServer(const rclcpp::NodeOptions &node_options)

void trackCallback(const PointCloud2::ConstSharedPtr cloud)

virtual void insertScan(const tf2::Vector3 &sensor_origin, const PCLPointCloud &ground, const PCLPointCloud &nonground)

update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame.

Parameters:

sensor_origin – origin of the measurements for raycasting
ground – scan endpoints on the ground plane (only clear space)
nonground – all other endpoints (clear up to occupied endpoint)

Protected Functions

void trackChanges()

Protected Attributes

bool listen_changes_

bool track_changes_

int min_change_pub_

std::string change_id_frame_

rclcpp::Publisher<PointCloud2>::SharedPtr pub_change_set_

rclcpp::Subscription<PointCloud2>::SharedPtr sub_change_set_