10 #include <nav_msgs/OccupancyGrid.h> 11 #include "../../include/cost_map_visualisations/occupancy_grid.hpp" 31 for (
const auto& layer : msg->layers) {
41 nav_msgs::OccupancyGrid occupancy_grid_msg;
43 publisher.
publish(occupancy_grid_msg);
void publish(const boost::shared_ptr< M > &message) const
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
void _costMapCallback(const cost_map_msgs::CostMap::ConstPtr &msg)
std::map< std::string, ros::Publisher > publishers_
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
void toOccupancyGrid(const cost_map::CostMap &cost_map, const std::string &layer, nav_msgs::OccupancyGrid &msg)
ros::Subscriber subscriber_
uint32_t getNumSubscribers() const
bool fromMessage(const cost_map_msgs::CostMap &message, cost_map::CostMap &cost_map)