#include <GridMapRosConverter.hpp>

Public Member Functions
	GridMapRosConverter ()

virtual	~GridMapRosConverter ()

Static Public Member Functions
static bool	addColorLayerFromImage (const sensor_msgs::Image &image, const std::string &layer, grid_map::GridMap &gridMap)

static bool	addLayerFromImage (const sensor_msgs::Image &image, const std::string &layer, grid_map::GridMap &gridMap, const float lowerValue=0.0, const float upperValue=1.0, const double alphaThreshold=0.5)

static bool	fromMessage (const grid_map_msgs::GridMap &message, grid_map::GridMap &gridMap, const std::vector< std::string > &layers, bool copyBasicLayers=true, bool copyAllNonBasicLayers=true)

static bool	fromMessage (const grid_map_msgs::GridMap &message, grid_map::GridMap &gridMap)

static bool	fromOccupancyGrid (const nav_msgs::OccupancyGrid &occupancyGrid, const std::string &layer, grid_map::GridMap &gridMap)

static bool	initializeFromImage (const sensor_msgs::Image &image, const double resolution, grid_map::GridMap &gridMap, const grid_map::Position &position=grid_map::Position::Zero())

static bool	loadFromBag (const std::string &pathToBag, const std::string &topic, grid_map::GridMap &gridMap)

static bool	saveToBag (const grid_map::GridMap &gridMap, const std::string &pathToBag, const std::string &topic)

static bool	toCvImage (const grid_map::GridMap &gridMap, const std::string &layer, const std::string encoding, cv_bridge::CvImage &cvImage)

static bool	toCvImage (const grid_map::GridMap &gridMap, const std::string &layer, const std::string encoding, const float lowerValue, const float upperValue, cv_bridge::CvImage &cvImage)

static void	toGridCells (const grid_map::GridMap &gridMap, const std::string &layer, float lowerThreshold, float upperThreshold, nav_msgs::GridCells &gridCells)

static bool	toImage (const grid_map::GridMap &gridMap, const std::string &layer, const std::string encoding, sensor_msgs::Image &image)

static bool	toImage (const grid_map::GridMap &gridMap, const std::string &layer, const std::string encoding, const float lowerValue, const float upperValue, sensor_msgs::Image &image)

static void	toMessage (const grid_map::GridMap &gridMap, grid_map_msgs::GridMap &message)

static void	toMessage (const grid_map::GridMap &gridMap, const std::vector< std::string > &layers, grid_map_msgs::GridMap &message)

static void	toOccupancyGrid (const grid_map::GridMap &gridMap, const std::string &layer, float dataMin, float dataMax, nav_msgs::OccupancyGrid &occupancyGrid)

static void	toPointCloud (const grid_map::GridMap &gridMap, const std::string &pointLayer, sensor_msgs::PointCloud2 &pointCloud)

static void	toPointCloud (const grid_map::GridMap &gridMap, const std::vector< std::string > &layers, const std::string &pointLayer, sensor_msgs::PointCloud2 &pointCloud)

static void	toPointCloud (const grid_map::SignedDistanceField &signedDistanceField, sensor_msgs::PointCloud2 &pointCloud, size_t decimation=1, const std::function< bool(float)> &condition=[](float) { return true;})

Detailed Description

ROS interface for the Grid Map library.

Definition at line 36 of file GridMapRosConverter.hpp.

Constructor & Destructor Documentation

◆ GridMapRosConverter()

grid_map::GridMapRosConverter::GridMapRosConverter ( )

Default constructor.

Definition at line 30 of file GridMapRosConverter.cpp.

◆ ~GridMapRosConverter()

grid_map::GridMapRosConverter::~GridMapRosConverter ( )

virtual

Destructor.

Definition at line 34 of file GridMapRosConverter.cpp.

Member Function Documentation

◆ addColorLayerFromImage()

bool grid_map::GridMapRosConverter::addColorLayerFromImage	(	const sensor_msgs::Image &	image,
		const std::string &	layer,
		grid_map::GridMap &	gridMap
	)

static

Adds a color layer with data from an image.

Parameters

[in]	image	the image to be added.
[in]	layer	the layer that is filled with the image.
[out]	gridMap	the grid map to be populated.

Returns: true if successful, false otherwise.

Definition at line 437 of file GridMapRosConverter.cpp.

◆ addLayerFromImage()

bool grid_map::GridMapRosConverter::addLayerFromImage	(	const sensor_msgs::Image &	image,
		const std::string &	layer,
		grid_map::GridMap &	gridMap,
		const float	lowerValue = `0.0`,
		const float	upperValue = `1.0`,
		const double	alphaThreshold = `0.5`
	)

static

Adds a layer with data from image.

Parameters

[in]	image	the image to be added. If it is a color image (bgr or bgra encoding), it will be transformed in a grayscale image.
[in]	layer	the layer that is filled with the image data.
[out]	gridMap	the grid map to be populated.
[in]

Definition at line 403 of file GridMapRosConverter.cpp.

◆ fromMessage() [1/2]

bool grid_map::GridMapRosConverter::fromMessage	(	const grid_map_msgs::GridMap &	message,
		grid_map::GridMap &	gridMap,
		const std::vector< std::string > &	layers,
		bool	copyBasicLayers = `true`,
		bool	copyAllNonBasicLayers = `true`
	)

static

Converts a ROS grid map message to a grid map object.

Parameters

[in]	message	the grid map message.
[in]	layers	the layers to be copied.
[in]	copyBasicLayers	if true, basic layers are copied.
[in]	copyAllNonBasicLayers	if true, all basic layers are copied, otherwise only that one specified in layers.
[out]	gridMap	the grid map object to be initialized.

Returns: true if successful, false otherwise.

Definition at line 38 of file GridMapRosConverter.cpp.

◆ fromMessage() [2/2]

bool grid_map::GridMapRosConverter::fromMessage	(	const grid_map_msgs::GridMap &	message,
		grid_map::GridMap &	gridMap
	)

static

Converts a ROS grid map message to a grid map object.

Parameters

[in]	message	the grid map message.
[out]	gridMap	the grid map object to be initialized.

Returns: true if successful, false otherwise.

Definition at line 77 of file GridMapRosConverter.cpp.

◆ fromOccupancyGrid()

bool grid_map::GridMapRosConverter::fromOccupancyGrid	(	const nav_msgs::OccupancyGrid &	occupancyGrid,
		const std::string &	layer,
		grid_map::GridMap &	gridMap
	)

static

Converts an occupancy grid message to a layer of a grid map.

Parameters

[in]	occupancyGrid	the occupancy grid to be converted.
[in]	layer	the layer to which the occupancy grid will be converted.
[out]	gridMap	the grid map to be populated.

Returns: true if successful.

Definition at line 283 of file GridMapRosConverter.cpp.

◆ initializeFromImage()

bool grid_map::GridMapRosConverter::initializeFromImage	(	const sensor_msgs::Image &	image,
		const double	resolution,
		grid_map::GridMap &	gridMap,
		const grid_map::Position &	position = `grid_map::Position::Zero()`
	)

static

Initializes the geometry of a grid map from an image messages. This changes the geometry of the map and deletes all contents of the layers!

Parameters

[in]	image	the image.
[in]	resolution	the desired resolution of the grid map [m/cell].
[out]	gridMap	the grid map to be initialized.
[in]

Definition at line 390 of file GridMapRosConverter.cpp.

◆ loadFromBag()

bool grid_map::GridMapRosConverter::loadFromBag	(	const std::string &	pathToBag,
		const std::string &	topic,
		grid_map::GridMap &	gridMap
	)

static

Loads a GridMap from a ROS bag.

Parameters

[in]	pathToBag	the path to the ROS bag file.
[in]	topic	the topic name of the grid map in the ROS bag.
[out]	gridMap	the grid map object to be initialized.

Returns: true if successful, false otherwise.

Definition at line 540 of file GridMapRosConverter.cpp.

◆ saveToBag()

bool grid_map::GridMapRosConverter::saveToBag	(	const grid_map::GridMap &	gridMap,
		const std::string &	pathToBag,
		const std::string &	topic
	)

static

Saves a grid map into a ROS bag. The timestamp of the grid map is used as time for storing the message in the ROS bag. The time value 0.0 is not a valid bag time and will be replaced by the current time.

Parameters

[in]	gridMap	the grid map object to be saved in the ROS bag.
[in]	pathToBag	the path to the ROS bag file.
[in]	topic	the name of the topic in the ROS bag.

Returns: true if successful, false otherwise.

Definition at line 520 of file GridMapRosConverter.cpp.

◆ toCvImage() [1/2]

bool grid_map::GridMapRosConverter::toCvImage	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		const std::string	encoding,
		cv_bridge::CvImage &	cvImage
	)

static

Creates a cv image from a grid map layer. This conversion sets the corresponding black and white pixel value to the min. and max. data of the layer data.

Parameters

[in]	grid	map to be added.
[in]	layer	the layer that is converted to the image.
[in]	encoding	the desired encoding of the image.
[out]	cvImage	the to be populated.

Returns: true if successful, false otherwise.

Definition at line 484 of file GridMapRosConverter.cpp.

◆ toCvImage() [2/2]

bool grid_map::GridMapRosConverter::toCvImage	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		const std::string	encoding,
		const float	lowerValue,
		const float	upperValue,
		cv_bridge::CvImage &	cvImage
	)

static

Creates a cv image from a grid map layer.

Parameters

[in]	grid	map to be added.
[in]	layer	the layer that is converted to the image.
[in]	encoding	the desired encoding of the image.
[in]	lowerValue	the value of the layer corresponding to black image pixels.
[in]	upperValue	the value of the layer corresponding to white image pixels.
[out]	cvImage	to be populated.

Returns: true if successful, false otherwise.

Definition at line 492 of file GridMapRosConverter.cpp.

◆ toGridCells()

void grid_map::GridMapRosConverter::toGridCells	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		float	lowerThreshold,
		float	upperThreshold,
		nav_msgs::GridCells &	gridCells
	)

static

Converts a grid map object to a ROS GridCells message. Set the layer to be transformed as grid cells with layer, all other layers will be neglected. Values that are between the lower and upper threshold are converted to grid cells, other data is neglected.

Parameters

[in]	gridMap	the grid map object.
[in]	layer	the layer that is transformed as grid cells.
[in]	lowerThreshold	the lower threshold.
[in]	upperThreshold	the upper threshold.
[out]	gridCells	the message to be populated.

Definition at line 367 of file GridMapRosConverter.cpp.

◆ toImage() [1/2]

bool grid_map::GridMapRosConverter::toImage	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		const std::string	encoding,
		sensor_msgs::Image &	image
	)

static

Creates an image message from a grid map layer. This conversion sets the corresponding black and white pixel value to the min. and max. data of the layer data.

Parameters

[in]	grid	map to be added.
[in]	layer	the layer that is converted to the image.
[in]	encoding	the desired encoding of the image.
[out]	image	the message to be populated.

Returns: true if successful, false otherwise.

Definition at line 465 of file GridMapRosConverter.cpp.

◆ toImage() [2/2]

bool grid_map::GridMapRosConverter::toImage	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		const std::string	encoding,
		const float	lowerValue,
		const float	upperValue,
		sensor_msgs::Image &	image
	)

static

Creates an image message from a grid map layer.

Parameters

[in]	grid	map to be added.
[in]	layer	the layer that is converted to the image.
[in]	encoding	the desired encoding of the image.
[in]	lowerValue	the value of the layer corresponding to black image pixels.
[in]	upperValue	the value of the layer corresponding to white image pixels.
[out]	image	the message to be populated.

Returns: true if successful, false otherwise.

Definition at line 474 of file GridMapRosConverter.cpp.

◆ toMessage() [1/2]

void grid_map::GridMapRosConverter::toMessage	(	const grid_map::GridMap &	gridMap,
		grid_map_msgs::GridMap &	message
	)

static

Converts all layers of a grid map object to a ROS grid map message.

Parameters

[in]	gridMap	the grid map object.
[out]	message	the grid map message to be populated.

Definition at line 82 of file GridMapRosConverter.cpp.

◆ toMessage() [2/2]

void grid_map::GridMapRosConverter::toMessage	(	const grid_map::GridMap &	gridMap,
		const std::vector< std::string > &	layers,
		grid_map_msgs::GridMap &	message
	)

static

Converts requested layers of a grid map object to a ROS grid map message.

Parameters

[in]	gridMap	the grid map object.
[in]	layers	the layers to be added to the message.
[out]	message	the grid map message to be populated.

Definition at line 87 of file GridMapRosConverter.cpp.

◆ toOccupancyGrid()

void grid_map::GridMapRosConverter::toOccupancyGrid	(	const grid_map::GridMap &	gridMap,
		const std::string &	layer,
		float	dataMin,
		float	dataMax,
		nav_msgs::OccupancyGrid &	occupancyGrid
	)

static

Converts a grid map object to a ROS OccupancyGrid message. Set the layer to be transformed as the cell data of the occupancy grid with layer, all other layers will be neglected.

Parameters

[in]	gridMap	the grid map object.
[in]	layer	the layer that is transformed to the occupancy cell data.
[in]	dataMin	the minimum value of the grid map data (used to normalize the cell data in [min, max]).
[in]	dataMax	the maximum value of the grid map data (used to normalize the cell data in [min, max]).
[out]	occupancyGrid	the message to be populated.

Definition at line 329 of file GridMapRosConverter.cpp.

◆ toPointCloud() [1/3]

void grid_map::GridMapRosConverter::toPointCloud	(	const grid_map::GridMap &	gridMap,
		const std::string &	pointLayer,
		sensor_msgs::PointCloud2 &	pointCloud
	)

static

Converts a grid map object to a ROS PointCloud2 message. Set the layer to be transformed as the points of the point cloud with pointLayer, all other types will be added as additional fields.

Parameters

[in]	gridMap	the grid map object.
[in]	pointLayer	the type that is transformed to points.
[out]	pointCloud	the message to be populated.

Definition at line 117 of file GridMapRosConverter.cpp.

◆ toPointCloud() [2/3]

void grid_map::GridMapRosConverter::toPointCloud	(	const grid_map::GridMap &	gridMap,
		const std::vector< std::string > &	layers,
		const std::string &	pointLayer,
		sensor_msgs::PointCloud2 &	pointCloud
	)

static

Converts a grid map object to a ROS PointCloud2 message. Set the layer to be transformed as the points of the point cloud with pointLayer and all other types to be added as additional layers with layers.

Parameters

[in]	gridMap	the grid map object.
[in]	layers	the layers that should be added as fields to the point cloud. Must include the `pointLayer`.
[in]	pointLayer	the layer that is transformed to points.
[out]	pointCloud	the message to be populated.

Definition at line 124 of file GridMapRosConverter.cpp.

◆ toPointCloud() [3/3]

void grid_map::GridMapRosConverter::toPointCloud	(	const grid_map::SignedDistanceField &	signedDistanceField,
		sensor_msgs::PointCloud2 &	pointCloud,
		size_t	decimation = `1`,
		const std::function< bool(float)> &	condition = `[](float) { return true; }`
	)

static

Converts a grid map signed distance field object to a ROS PointCloud2 message.

Parameters

[in]	gridMap	the grid map object.
[out]	pointCloud	the message to be populated.
[in]	decimation	: specifies how many points are returned. 1: all points, 2: every second point, etc.
[in]	condition	: specifies the condition on the distance value to add it to the pointcloud (default = any distance is added)

Definition at line 225 of file GridMapRosConverter.cpp.

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

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ GridMapRosConverter()

◆ ~GridMapRosConverter()

Member Function Documentation

◆ addColorLayerFromImage()

◆ addLayerFromImage()

◆ fromMessage() [1/2]

◆ fromMessage() [2/2]

◆ fromOccupancyGrid()

◆ initializeFromImage()

◆ loadFromBag()

◆ saveToBag()

◆ toCvImage() [1/2]

◆ toCvImage() [2/2]

◆ toGridCells()

◆ toImage() [1/2]

◆ toImage() [2/2]

◆ toMessage() [1/2]

◆ toMessage() [2/2]

◆ toOccupancyGrid()

◆ toPointCloud() [1/3]

◆ toPointCloud() [2/3]

◆ toPointCloud() [3/3]