PointCloudVisualization.cpp
Go to the documentation of this file.
00001 /*
00002  * PointCloudVisualization.cpp
00003  *
00004  *  Created on: Sep 11, 2014
00005  *      Author: Péter Fankhauser
00006  *   Institute: ETH Zurich, ANYbotics
00007  */
00008 
00009 #include <grid_map_visualization/visualizations/PointCloudVisualization.hpp>
00010 #include <grid_map_ros/GridMapRosConverter.hpp>
00011 
00012 #include <sensor_msgs/PointCloud2.h>
00013 
00014 namespace grid_map_visualization {
00015 
00016 PointCloudVisualization::PointCloudVisualization(ros::NodeHandle& nodeHandle, const std::string& name)
00017     : VisualizationBase(nodeHandle, name)
00018 {
00019 }
00020 
00021 PointCloudVisualization::~PointCloudVisualization()
00022 {
00023 }
00024 
00025 bool PointCloudVisualization::readParameters(XmlRpc::XmlRpcValue& config)
00026 {
00027   VisualizationBase::readParameters(config);
00028   if (!getParam("layer", layer_)) {
00029     ROS_ERROR("PointCloudVisualization with name '%s' did not find a 'layer' parameter.", name_.c_str());
00030     return false;
00031   }
00032   return true;
00033 }
00034 
00035 bool PointCloudVisualization::initialize()
00036 {
00037   publisher_ = nodeHandle_.advertise<sensor_msgs::PointCloud2>(name_, 1, true);
00038   return true;
00039 }
00040 
00041 bool PointCloudVisualization::visualize(const grid_map::GridMap& map)
00042 {
00043   if (!isActive()) return true;
00044   if (!map.exists(layer_)) {
00045     ROS_WARN_STREAM("PointCloudVisualization::visualize: No grid map layer with name '" << layer_ << "' found.");
00046     return false;
00047   }
00048   sensor_msgs::PointCloud2 pointCloud;
00049   grid_map::GridMapRosConverter::toPointCloud(map, layer_, pointCloud);
00050   publisher_.publish(pointCloud);
00051   return true;
00052 }
00053 
00054 } /* namespace */


grid_map_visualization
Author(s): Péter Fankhauser
autogenerated on Tue Jul 9 2019 05:06:50