Class OccupancyMapMonitorMiddlewareHandle

Inheritance Relationships

Base Type

Class Documentation

class OccupancyMapMonitorMiddlewareHandle : public occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle

This class contains the ros interfaces for OccupancyMapMontior.

Public Functions

OccupancyMapMonitorMiddlewareHandle(const rclcpp::Node::SharedPtr &node, double map_resolution, const std::string &map_frame)

Constructor, reads the parameters.

Parameters:

  • node – [in] The ros node

  • map_resolution – [in] The map resolution, if not > 0 read from a parameter

  • map_frame – [in] The map frame, if not empty read from a parameter

virtual OccupancyMapMonitor::Parameters getParameters() const override

Gets the parameters struct.

Returns:

The parameters.

virtual OccupancyMapUpdaterPtr loadOccupancyMapUpdater(const std::string &sensor_plugin) override

Loads an occupancy map updater using pluginlib.

Parameters:

sensor_plugin – [in] The sensor plugin type string

Returns:

The occupancy map updater pointer.

virtual void initializeOccupancyMapUpdater(OccupancyMapUpdaterPtr occupancy_map_updater) override

Initializes the occupancy map updater. This must be called because of the interface of OccupancyMapUpdater.

Parameters:

occupancy_map_updater – [in] The occupancy map updater

virtual void createSaveMapService(OccupancyMapMonitor::MiddlewareHandle::SaveMapServiceCallback callback) override

Creates a save map service.

Parameters:

callback – [in] The callback closure

virtual void createLoadMapService(OccupancyMapMonitor::MiddlewareHandle::LoadMapServiceCallback callback) override

Creates a load map service.

Parameters:

callback – [in] The callback closure