00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef COSTMAP_COSTMAP_2D_PUBLISHER_H_ 00038 #define COSTMAP_COSTMAP_2D_PUBLISHER_H_ 00039 #include <ros/ros.h> 00040 #include <costmap_2d/costmap_2d.h> 00041 #include <nav_msgs/GridCells.h> 00042 00043 #include <tf/transform_datatypes.h> 00044 00045 #include <boost/thread.hpp> 00046 00047 namespace costmap_2d { 00052 class Costmap2DPublisher { 00053 public: 00059 Costmap2DPublisher(ros::NodeHandle ros_node, double publish_frequency, std::string global_frame); 00060 00064 ~Costmap2DPublisher(); 00065 00069 void publishFootprint(); 00070 00074 void publishCostmap(); 00075 00081 void updateCostmapData(const Costmap2D& costmap, 00082 const std::vector<geometry_msgs::Point>& footprint = std::vector<geometry_msgs::Point>(), 00083 const tf::Stamped<tf::Pose>& global_pose = tf::Stamped<tf::Pose>()); 00084 00089 bool active() {return active_;} 00090 00091 private: 00092 void mapPublishLoop(double frequency); 00093 00094 std::string global_frame_; 00095 boost::thread* visualizer_thread_; 00096 std::vector< std::pair<double, double> > raw_obstacles_, inflated_obstacles_, unknown_space_; 00097 boost::recursive_mutex lock_; 00098 bool active_, new_data_; 00099 ros::Publisher obs_pub_, inf_obs_pub_, unknown_space_pub_, footprint_pub_; 00100 double resolution_, inscribed_radius_; 00101 std::vector<geometry_msgs::Point> footprint_; 00102 tf::Stamped<tf::Pose> global_pose_; 00103 bool visualizer_thread_shutdown_; 00104 }; 00105 }; 00106 #endif