MapRepublisher Class Reference

#include <map_republisher.h>

List of all members.

Public Member Functions
	MapRepublisher ()
void	publishMap ()
Private Member Functions
bool	mapServiceCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
void	obstacleCallback (const carl_navigation::BlockedCells &grid)
void	staticMapCallback (const nav_msgs::OccupancyGrid &map)
Private Attributes
nav_msgs::OccupancyGrid	combinedMap
ros::ServiceServer	getMapServer
ros::Publisher	mapMetaDataPublisher
ros::Publisher	mapPublisher
ros::Subscriber	mapSubscriber
int	mapSubscribers
int	metaDataSubscribers
ros::NodeHandle	n
std::vector< geometry_msgs::Point >	obstacleCells
std::vector< geometry_msgs::Point >	obstacleEdges
ros::Subscriber	obstacleGridSubscriber
nav_msgs::OccupancyGrid	staticMap
bool	staticMapInitialized

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Detailed Description

Definition at line 15 of file map_republisher.h.

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Constructor & Destructor Documentation

MapRepublisher::MapRepublisher

(

)

Constructor

Definition at line 13 of file map_republisher.cpp.

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Member Function Documentation

bool MapRepublisher::mapServiceCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)		[private]

Map service callback

Parameters:

req	service request
res	service response

Returns:

true on success

Definition at line 30 of file map_republisher.cpp.

void MapRepublisher::obstacleCallback

(

const carl_navigation::BlockedCells &

grid

)

[private]

Callback for the obstacle grid, will republish the map with obstacle data added to the static map

Parameters:

grid	obstacles found by an external vision system

Definition at line 53 of file map_republisher.cpp.

void MapRepublisher::publishMap

(

)

Republish the map or the map metadata if the number of subscribers changes

Definition at line 73 of file map_republisher.cpp.

void MapRepublisher::staticMapCallback

(

const nav_msgs::OccupancyGrid &

map

)

[private]

Callback for static map, will republish the map with obstacle data added if obstacle data has been previously received

Parameters:

map	static map from map_server

Definition at line 36 of file map_republisher.cpp.

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Member Data Documentation

nav_msgs::OccupancyGrid MapRepublisher::combinedMap [private]

Definition at line 44 of file map_republisher.h.

ros::ServiceServer MapRepublisher::getMapServer [private]

Definition at line 38 of file map_republisher.h.

ros::Publisher MapRepublisher::mapMetaDataPublisher [private]

Definition at line 36 of file map_republisher.h.

ros::Publisher MapRepublisher::mapPublisher [private]

Definition at line 35 of file map_republisher.h.

ros::Subscriber MapRepublisher::mapSubscriber [private]

Definition at line 32 of file map_republisher.h.

int MapRepublisher::mapSubscribers [private]

Definition at line 40 of file map_republisher.h.

int MapRepublisher::metaDataSubscribers [private]

Definition at line 41 of file map_republisher.h.

ros::NodeHandle MapRepublisher::n [private]

Definition at line 30 of file map_republisher.h.

std::vector<geometry_msgs::Point> MapRepublisher::obstacleCells [private]

Definition at line 46 of file map_republisher.h.

std::vector<geometry_msgs::Point> MapRepublisher::obstacleEdges [private]

Definition at line 47 of file map_republisher.h.

ros::Subscriber MapRepublisher::obstacleGridSubscriber [private]

Definition at line 33 of file map_republisher.h.

nav_msgs::OccupancyGrid MapRepublisher::staticMap [private]

Definition at line 45 of file map_republisher.h.

bool MapRepublisher::staticMapInitialized [private]

Definition at line 48 of file map_republisher.h.

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

• map_republisher.h
• map_republisher.cpp