static_layer.h
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38 #ifndef RTABMAP_ROS_STATIC_LAYER_H_
39 #define RTABMAP_ROS_STATIC_LAYER_H_
40 
41 #include <ros/ros.h>
44 #include <costmap_2d/GenericPluginConfig.h>
45 #include <dynamic_reconfigure/server.h>
46 #include <nav_msgs/OccupancyGrid.h>
47 #include <map_msgs/OccupancyGridUpdate.h>
49 
50 namespace rtabmap_ros
51 {
52 
54 {
55 public:
56  StaticLayer();
57  virtual ~StaticLayer();
58  virtual void onInitialize();
59  virtual void activate();
60  virtual void deactivate();
61  virtual void reset();
62 
63  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, double* max_x,
64  double* max_y);
65  virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
66 
67  virtual void matchSize();
68 
69 private:
76  void incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map);
77  void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update);
78  void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
79 
80  unsigned char interpretValue(unsigned char value);
81 
82  std::string global_frame_;
86  unsigned int x_,y_,width_,height_;
91 
93 
94  mutable boost::recursive_mutex lock_;
95  dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
96 };
97 
98 } // namespace rtabmap_ros
99 
100 #endif // RTABMAP_ROS_DYNAMIC_LAYER_H_
virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double *min_x, double *min_y, double *max_x, double *max_y)
void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level)
dynamic_reconfigure::Server< costmap_2d::GenericPluginConfig > * dsrv_
Definition: static_layer.h:95
void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr &update)
bool update(const T &new_val, T &my_val)
config
ros::Subscriber map_update_sub_
Definition: static_layer.h:90
unsigned char unknown_cost_value_
Definition: static_layer.h:92
void incomingMap(const nav_msgs::OccupancyGridConstPtr &new_map)
Callback to update the costmap&#39;s map from the map_server.
unsigned char interpretValue(unsigned char value)
std::string global_frame_
The global frame for the costmap.
Definition: static_layer.h:82
virtual void updateCosts(costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
detail::uint32 uint32_t
boost::recursive_mutex lock_
Definition: static_layer.h:94
virtual void onInitialize()
unsigned char lethal_threshold_
Definition: static_layer.h:92
ros::Subscriber map_sub_
Definition: static_layer.h:90


rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Tue Jan 24 2023 04:04:40