8 #ifndef cost_map_ros_LOADER_HPP_ 9 #define cost_map_ros_LOADER_HPP_ 16 #include <cost_map_msgs/CostMap.h> 19 #include <std_msgs/String.h> 80 const std::string& topic_name=
"cost_map");
102 SaveImageBundle(
const std::string& topic_name,
const std::string& yaml_filename=
"foo.yaml");
110 void _costmapCallback(
const cost_map_msgs::CostMap& msg);
void fromImageBundle(const std::string &filename, cost_map::CostMap &cost_map)
Initialises a adds a single layer from a yaml/image resource pair.
cost_map::CostMapPtr cost_map
ros::Subscriber subscriber_
std::shared_ptr< cost_map::CostMap > CostMapPtr
std::string yaml_filename
Helper for loading and publishing image bundles.
virtual ~LoadImageBundle()
Helper for saving an image bundle from a cost map topic.
LoadImageBundle(const std::string &image_bundle_location, const std::string &topic_name="cost_map")
Load and publish from an image bundle.
void toImageBundle(const std::string &filename, const cost_map::CostMap &cost_map)
Dump a cost map to an image bundle set of files.
virtual ~SaveImageBundle()