costmap_2d_publisher.h

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#ifndef COSTMAP_2D_COSTMAP_2D_PUBLISHER_H_
#define COSTMAP_2D_COSTMAP_2D_PUBLISHER_H_
#include <ros/ros.h>
#include <costmap_2d/costmap_2d.h>
#include <nav_msgs/OccupancyGrid.h>
#include <map_msgs/OccupancyGridUpdate.h>
#include <tf/transform_datatypes.h>

namespace costmap_2d
{
class Costmap2DPublisher
{
public:
  Costmap2DPublisher(ros::NodeHandle * ros_node, Costmap2D* costmap, std::string global_frame,
                     std::string topic_name, bool always_send_full_costmap = false);

  ~Costmap2DPublisher();

  void updateBounds(unsigned int x0, unsigned int xn, unsigned int y0, unsigned int yn)
  {
    x0_ = std::min(x0, x0_);
    xn_ = std::max(xn, xn_);
    y0_ = std::min(y0, y0_);
    yn_ = std::max(yn, yn_);
  }

  void publishCostmap();

  bool active()
  {
    return active_;
  }

private:
  void prepareGrid();

  void onNewSubscription(const ros::SingleSubscriberPublisher& pub);

  ros::NodeHandle* node;
  Costmap2D* costmap_;
  std::string global_frame_;
  unsigned int x0_, xn_, y0_, yn_;
  double saved_origin_x_, saved_origin_y_;
  bool active_;
  bool always_send_full_costmap_;
  ros::Publisher costmap_pub_;
  ros::Publisher costmap_update_pub_;
  nav_msgs::OccupancyGrid grid_;
  static char* cost_translation_table_;  
};
}  // namespace costmap_2d
#endif  // COSTMAP_2D_COSTMAP_2D_PUBLISHER_H