A tool to periodically publish visualization data from a Costmap2D. More...

Public Member Functions
bool	active ()
	Check if the publisher is active.
	Costmap2DPublisher (ros::NodeHandle ros_node, double publish_frequency, std::string global_frame)
	Constructor for the Costmap2DPublisher.
void	publishCostmap ()
	Publishes the visualization data over ROS.
void	publishFootprint ()
	Publishes footprint visualization data over ROS.
void	updateCostmapData (const Costmap2D &costmap, const std::vector< geometry_msgs::Point > &footprint=std::vector< geometry_msgs::Point >(), const tf::Stamped< tf::Pose > &global_pose=tf::Stamped< tf::Pose >())
	Update the visualization data from a Costmap2D.
	~Costmap2DPublisher ()
	Destructor.
Private Member Functions
void	mapPublishLoop (double frequency)
Private Attributes
bool	active_
std::vector< geometry_msgs::Point >	footprint_
ros::Publisher	footprint_pub_
std::string	global_frame_
tf::Stamped< tf::Pose >	global_pose_
ros::Publisher	inf_obs_pub_
std::vector< std::pair< double, double > >	inflated_obstacles_
double	inscribed_radius_
boost::recursive_mutex	lock_
	A lock.
bool	new_data_
ros::Publisher	obs_pub_
std::vector< std::pair< double, double > >	raw_obstacles_
double	resolution_
std::vector< std::pair< double, double > >	unknown_space_
ros::Publisher	unknown_space_pub_
boost::thread *	visualizer_thread_
	A thread for publising to the visualizer.
bool	visualizer_thread_shutdown_

Detailed Description

A tool to periodically publish visualization data from a Costmap2D.

Definition at line 52 of file costmap_2d_publisher.h.

Constructor & Destructor Documentation

costmap_2d::Costmap2DPublisher::Costmap2DPublisher	(	ros::NodeHandle	ros_node,
		double	publish_frequency,
		std::string	global_frame
	)

Constructor for the Costmap2DPublisher.

Parameters:

ros_node	The node under which to publish the visualization output
global_frame	The frame in which to publish the visualization output

Definition at line 41 of file costmap_2d_publisher.cpp.

costmap_2d::Costmap2DPublisher::~Costmap2DPublisher ( )

Destructor.

Definition at line 52 of file costmap_2d_publisher.cpp.

bool costmap_2d::Costmap2DPublisher::active ( ) [inline]

Check if the publisher is active.

Returns:: True if the frequency for the publisher is non-zero, false otherwise

Definition at line 89 of file costmap_2d_publisher.h.

void costmap_2d::Costmap2DPublisher::mapPublishLoop ( double frequency ) [private]

Definition at line 60 of file costmap_2d_publisher.cpp.

void costmap_2d::Costmap2DPublisher::publishCostmap ( )

Publishes the visualization data over ROS.

Definition at line 161 of file costmap_2d_publisher.cpp.

void costmap_2d::Costmap2DPublisher::publishFootprint ( )

Publishes footprint visualization data over ROS.

Definition at line 122 of file costmap_2d_publisher.cpp.

void costmap_2d::Costmap2DPublisher::updateCostmapData	(	const Costmap2D &	costmap,
		const std::vector< geometry_msgs::Point > &	footprint = `std::vector<geometry_msgs::Point>()`,
		const tf::Stamped< tf::Pose > &	global_pose = `tf::Stamped<tf::Pose>()`
	)