stdr_server::MapServer Class Reference

Implements the STDR map server functionalities. More...

#include <map_server.h>

Public Member Functions
	MapServer (const std::string &fname)
	Constructor by filename. More...
	MapServer (const nav_msgs::OccupancyGrid &map)
	Constructor by occupancy grid map. More...

Private Member Functions
void	publishData ()
	Publishes the map data and metadata. More...
void	publishTransform (const ros::TimerEvent &ev)
	Publishes the map to map_static transform. More...

Private Attributes
nav_msgs::OccupancyGrid	map_
ros::Publisher	map_pub
	ROS publisher for posting the map metadata. More...
nav_msgs::MapMetaData	meta_data_message_
	ROS occupancy grid message. More...
ros::Publisher	metadata_pub
	ROS timer for tf posting. More...
ros::NodeHandle	n
	< The ROS node handle More...
tf::TransformBroadcaster	tfBroadcaster
	ROS map metadata message. More...
ros::Timer	tfTimer
	ROS tf broadcaster. More...

Detailed Description

Implements the STDR map server functionalities.

Definition at line 39 of file map_server.h.

Constructor & Destructor Documentation

MapServer::MapServer ( const std::string &  fname )

explicit

Constructor by filename.

Parameters

fname

[const std::string&] The file name

Returns

void

Definition at line 31 of file map_server.cpp.

MapServer::MapServer ( const nav_msgs::OccupancyGrid &  map )

explicit

Constructor by occupancy grid map.

Parameters

map	[const nav_msgs::OccupancyGrid&] The occupancy grid map

Returns

void

Definition at line 46 of file map_server.cpp.

Member Function Documentation

void MapServer::publishData ( void  )

private

Publishes the map data and metadata.

Returns

void

< Latched publisher for metadata

< Latched publisher for data

Definition at line 60 of file map_server.cpp.

void MapServer::publishTransform ( const ros::TimerEvent &  ev )

private

Publishes the map to map_static transform.

Parameters

ev	[const ros::TimerEvent&] A ROS timer event

Returns

void

Definition at line 80 of file map_server.cpp.

Member Data Documentation

nav_msgs::OccupancyGrid stdr_server::MapServer::map_

private

Definition at line 87 of file map_server.h.

ros::Publisher stdr_server::MapServer::map_pub

private

ROS publisher for posting the map metadata.

Definition at line 77 of file map_server.h.

nav_msgs::MapMetaData stdr_server::MapServer::meta_data_message_

private

ROS occupancy grid message.

Definition at line 85 of file map_server.h.

ros::Publisher stdr_server::MapServer::metadata_pub

private

ROS timer for tf posting.

Definition at line 79 of file map_server.h.

ros::NodeHandle stdr_server::MapServer::n

private

< The ROS node handle

ROS publisher for posting the map

Definition at line 75 of file map_server.h.

tf::TransformBroadcaster stdr_server::MapServer::tfBroadcaster

private

ROS map metadata message.

Definition at line 83 of file map_server.h.

ros::Timer stdr_server::MapServer::tfTimer

private

ROS tf broadcaster.

Definition at line 81 of file map_server.h.

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The documentation for this class was generated from the following files:

• map_server.h
• map_server.cpp