occupancy_map_server.cpp
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34 
35 /* Author: Jon Binney, Ioan Sucan */
36 
37 #include <boost/shared_ptr.hpp>
38 #include <ros/ros.h>
39 #include <tf/tf.h>
40 #include <tf/transform_listener.h>
43 
45 {
46  octomap_msgs::Octomap map;
47 
48  map.header.frame_id = server->getMapFrame();
49  map.header.stamp = ros::Time::now();
50 
51  server->getOcTreePtr()->lockRead();
52  try
53  {
54  if (!octomap_msgs::binaryMapToMsgData(*server->getOcTreePtr(), map.data))
55  ROS_ERROR_THROTTLE(1, "Could not generate OctoMap message");
56  }
57  catch (...)
58  {
59  ROS_ERROR_THROTTLE(1, "Exception thrown while generating OctoMap message");
60  }
61  server->getOcTreePtr()->unlockRead();
62 
63  octree_binary_pub->publish(map);
64 }
65 
66 int main(int argc, char** argv)
67 {
68  ros::init(argc, argv, "occupancy_map_server");
69  ros::NodeHandle nh;
70  ros::Publisher octree_binary_pub = nh.advertise<octomap_msgs::Octomap>("octomap_binary", 1);
71  boost::shared_ptr<tf::Transformer> listener = boost::make_shared<tf::TransformListener>(ros::Duration(5.0));
73  server.setUpdateCallback(boost::bind(&publishOctomap, &octree_binary_pub, &server));
74  server.startMonitor();
75 
76  ros::spin();
77  return 0;
78 }
void publish(const boost::shared_ptr< M > &message) const
static void publishOctomap(ros::Publisher *octree_binary_pub, occupancy_map_monitor::OccupancyMapMonitor *server)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROSCPP_DECL void spin(Spinner &spinner)
#define ROS_ERROR_THROTTLE(rate,...)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
const OccMapTreePtr & getOcTreePtr()
Get a pointer to the underlying octree for this monitor. Lock the tree before reading or writing usin...
static Time now()
int main(int argc, char **argv)
static bool binaryMapToMsgData(const OctomapT &octomap, std::vector< int8_t > &mapData)


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Mon Jan 15 2018 03:51:11