grid_map_demos::ImageToGridmapDemo Class Reference

#include <ImageToGridmapDemo.hpp>

Public Member Functions
void	imageCallback (const sensor_msgs::Image &msg)
	ImageToGridmapDemo (ros::NodeHandle &nodeHandle)
bool	readParameters ()
virtual	~ImageToGridmapDemo ()

Private Attributes
ros::Publisher	gridMapPublisher_
	Grid map publisher. More...
ros::Subscriber	imageSubscriber_
	Image subscriber. More...
std::string	imageTopic_
	Name of the grid map topic. More...
grid_map::GridMap	map_
	Grid map data. More...
std::string	mapFrameId_
	Frame id of the grid map. More...
bool	mapInitialized_
double	mapLengthX_
	Length of the grid map in x direction. More...
double	maxHeight_
double	minHeight_
	Range of the height values. More...
ros::NodeHandle &	nodeHandle_
	ROS nodehandle. More...
double	resolution_
	Resolution of the grid map. More...

Detailed Description

Loads an image and saves it as layer 'elevation' of a grid map. The grid map is published and can be viewed in Rviz.

Definition at line 26 of file ImageToGridmapDemo.hpp.

Constructor & Destructor Documentation

grid_map_demos::ImageToGridmapDemo::ImageToGridmapDemo

(

ros::NodeHandle &

nodeHandle

)

Constructor.

Parameters

nodeHandle

the ROS node handle.

Definition at line 13 of file ImageToGridmapDemo.cpp.

grid_map_demos::ImageToGridmapDemo::~ImageToGridmapDemo ( )

virtual

Destructor.

Definition at line 24 of file ImageToGridmapDemo.cpp.

Member Function Documentation

void grid_map_demos::ImageToGridmapDemo::imageCallback

(

const sensor_msgs::Image &

msg

)

Definition at line 37 of file ImageToGridmapDemo.cpp.

bool grid_map_demos::ImageToGridmapDemo::readParameters

(

)

Reads and verifies the ROS parameters.

Returns

true if successful.

Definition at line 28 of file ImageToGridmapDemo.cpp.

Member Data Documentation

ros::Publisher grid_map_demos::ImageToGridmapDemo::gridMapPublisher_

private

Grid map publisher.

Definition at line 55 of file ImageToGridmapDemo.hpp.

ros::Subscriber grid_map_demos::ImageToGridmapDemo::imageSubscriber_

private

Image subscriber.

Definition at line 61 of file ImageToGridmapDemo.hpp.

std::string grid_map_demos::ImageToGridmapDemo::imageTopic_

private

Name of the grid map topic.

Definition at line 64 of file ImageToGridmapDemo.hpp.

grid_map::GridMap grid_map_demos::ImageToGridmapDemo::map_

private

Grid map data.

Definition at line 58 of file ImageToGridmapDemo.hpp.

std::string grid_map_demos::ImageToGridmapDemo::mapFrameId_

private

Frame id of the grid map.

Definition at line 77 of file ImageToGridmapDemo.hpp.

bool grid_map_demos::ImageToGridmapDemo::mapInitialized_

private

Definition at line 79 of file ImageToGridmapDemo.hpp.

double grid_map_demos::ImageToGridmapDemo::mapLengthX_

private

Length of the grid map in x direction.

Definition at line 67 of file ImageToGridmapDemo.hpp.

double grid_map_demos::ImageToGridmapDemo::maxHeight_

private

Definition at line 74 of file ImageToGridmapDemo.hpp.

double grid_map_demos::ImageToGridmapDemo::minHeight_

private

Range of the height values.

Definition at line 73 of file ImageToGridmapDemo.hpp.

ros::NodeHandle& grid_map_demos::ImageToGridmapDemo::nodeHandle_

private

ROS nodehandle.

Definition at line 52 of file ImageToGridmapDemo.hpp.

double grid_map_demos::ImageToGridmapDemo::resolution_

private

Resolution of the grid map.

Definition at line 70 of file ImageToGridmapDemo.hpp.

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

• ImageToGridmapDemo.hpp
• ImageToGridmapDemo.cpp