OctomapToGridmapDemo.hpp

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/*
 * OctomapToGridmapDemo.hpp
 *
 *  Created on: May 03, 2017
 *      Author: Jeff Delmerico
 *   Institute: University of Zürich, Robotics and Perception Group
 */

#pragma once

// ROS
#include <ros/ros.h>

#include <grid_map_ros/grid_map_ros.hpp>

#include <string>

namespace grid_map_demos {

class OctomapToGridmapDemo
{
 public:

  OctomapToGridmapDemo(ros::NodeHandle& nodeHandle);

  virtual ~OctomapToGridmapDemo();

  bool readParameters();

  void convertAndPublishMap();

 private:

  ros::NodeHandle& nodeHandle_;

  ros::Publisher gridMapPublisher_;

  ros::Publisher octomapPublisher_;

  grid_map::GridMap map_;

  std::string octomapServiceTopic_;

  ros::ServiceClient client_;

  float minX_;
  float maxX_;
  float minY_;
  float maxY_;
  float minZ_;
  float maxZ_;
};

} /* namespace */