Functions
map_server Namespace Reference

Functions

void loadMapFromFile (nav_msgs::GetMap::Response *resp, const char *fname, double res, bool negate, double occ_th, double free_th, double *origin, MapMode mode=TRINARY)
 

Function Documentation

void map_server::loadMapFromFile ( nav_msgs::GetMap::Response *  resp,
const char *  fname,
double  res,
bool  negate,
double  occ_th,
double  free_th,
double *  origin,
MapMode  mode = TRINARY 
)

Read the image from file and fill out the resp object, for later use when our services are requested.

Parameters
respThe map wil be written into here
fnameThe image file to read from
resThe resolution of the map (gets stored in resp)
negateIf true, then whiter pixels are occupied, and blacker pixels are free
occ_thThreshold above which pixels are occupied
free_thThreshold below which pixels are free
originTriple specifying 2-D pose of lower-left corner of image
modeMap mode
Exceptions
std::runtime_errorIf the image file can't be loaded

Definition at line 57 of file image_loader.cpp.



map_server
Author(s): Brian Gerkey, Tony Pratkanis, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:35