MapAsImageProvider Class Reference

This node provides occupancy grid maps as images via image_transport, so the transmission consumes less bandwidth. The provided code is a incomplete proof of concept. More...

Public Member Functions
	MapAsImageProvider ()
void	mapCallback (const nav_msgs::OccupancyGridConstPtr &map)
void	poseCallback (const geometry_msgs::PoseStampedConstPtr &pose)
	~MapAsImageProvider ()

Public Attributes
cv_bridge::CvImage	cv_img_full_
cv_bridge::CvImage	cv_img_tile_
image_transport::ImageTransport *	image_transport_
image_transport::Publisher	image_transport_publisher_full_
image_transport::Publisher	image_transport_publisher_tile_
ros::Subscriber	map_sub_
ros::NodeHandle	n_
int	p_size_tiled_map_image_x_
int	p_size_tiled_map_image_y_
ros::NodeHandle	pn_
geometry_msgs::PoseStampedConstPtr	pose_ptr_
ros::Subscriber	pose_sub_
HectorMapTools::CoordinateTransformer< float >	world_map_transformer_

Detailed Description

This node provides occupancy grid maps as images via image_transport, so the transmission consumes less bandwidth. The provided code is a incomplete proof of concept.

Definition at line 48 of file map_to_image_node.cpp.

Constructor & Destructor Documentation

MapAsImageProvider::MapAsImageProvider ( )

inline

Definition at line 51 of file map_to_image_node.cpp.

MapAsImageProvider::~MapAsImageProvider ( )

inline

Definition at line 76 of file map_to_image_node.cpp.

Member Function Documentation

void MapAsImageProvider::mapCallback ( const nav_msgs::OccupancyGridConstPtr &  map )

inline

Definition at line 88 of file map_to_image_node.cpp.

void MapAsImageProvider::poseCallback ( const geometry_msgs::PoseStampedConstPtr &  pose )

inline

Definition at line 82 of file map_to_image_node.cpp.

Member Data Documentation

cv_bridge::CvImage MapAsImageProvider::cv_img_full_

Definition at line 248 of file map_to_image_node.cpp.

cv_bridge::CvImage MapAsImageProvider::cv_img_tile_

Definition at line 249 of file map_to_image_node.cpp.

image_transport::ImageTransport* MapAsImageProvider::image_transport_

Definition at line 244 of file map_to_image_node.cpp.

image_transport::Publisher MapAsImageProvider::image_transport_publisher_full_

Definition at line 241 of file map_to_image_node.cpp.

image_transport::Publisher MapAsImageProvider::image_transport_publisher_tile_

Definition at line 242 of file map_to_image_node.cpp.

ros::Subscriber MapAsImageProvider::map_sub_

Definition at line 238 of file map_to_image_node.cpp.

ros::NodeHandle MapAsImageProvider::n_

Definition at line 251 of file map_to_image_node.cpp.

int MapAsImageProvider::p_size_tiled_map_image_x_

Definition at line 254 of file map_to_image_node.cpp.

int MapAsImageProvider::p_size_tiled_map_image_y_

Definition at line 255 of file map_to_image_node.cpp.

ros::NodeHandle MapAsImageProvider::pn_

Definition at line 252 of file map_to_image_node.cpp.

geometry_msgs::PoseStampedConstPtr MapAsImageProvider::pose_ptr_

Definition at line 246 of file map_to_image_node.cpp.

ros::Subscriber MapAsImageProvider::pose_sub_

Definition at line 239 of file map_to_image_node.cpp.

HectorMapTools::CoordinateTransformer<float> MapAsImageProvider::world_map_transformer_

Definition at line 257 of file map_to_image_node.cpp.

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

• map_to_image_node.cpp