map_server Namespace Reference

Functions
void	loadMapFromFile (nav_msgs::GetMap::Response *resp, const char *fname, double res, bool negate, double occ_th, double free_th, double *origin, bool trinary=true)

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Function Documentation

void map_server::loadMapFromFile	(	nav_msgs::GetMap::Response *	resp,
		const char *	fname,
		double	res,
		bool	negate,
		double	occ_th,
		double	free_th,
		double *	origin,
		bool	trinary = true
	)

Read the image from file and fill out the resp object, for later use when our services are requested.

Parameters:

resp	The map wil be written into here
fname	The image file to read from
res	The resolution of the map (gets stored in resp)
negate	If true, then whiter pixels are occupied, and blacker pixels are free
occ_th	Threshold above which pixels are occupied
free_th	Threshold below which pixels are free
origin	Triple specifying 2-D pose of lower-left corner of image
trinary	If true, only outputs Occupied/Free/Unknown

Exceptions:

std::runtime_error

If the image file can't be loaded

Definition at line 55 of file image_loader.cpp.