A terrain map publishing class. More...

Collaboration diagram for TerrainMapPublisher:

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Public Member Functions
	TerrainMapPublisher (ros::NodeHandle nh)
	Constructor for TerrainMapPublisher Class.

void	updateParams ()
	Updates the terrain_map_publisher parameters.

void	createMap ()
	Creates the map object from scratch.

void	updateMap ()
	Updates the map object with params.

std::vector< std::vector< double > >	loadCSV (std::string filename)
	Loads data from a specified CSV file into a nested std::vector structure.

void	loadMapFromCSV ()
	Loads data into the map object from a CSV.

void	loadMapFromImage (const sensor_msgs::Image &msg)
	Loads data into the map object from an image topic.

void	publishMap ()
	Publishes map data to the terrain_map topic.

void	spin ()
	Calls ros spinOnce and pubs data at set frequency.

Private Attributes
ros::Subscriber	image_sub_
	ROS Subscriber for image data.

ros::Publisher	terrain_map_pub_
	ROS Publisher for the terrain map.

ros::NodeHandle	nh_
	Nodehandle to pub to and sub from.

double	update_rate_

std::string	map_frame_
	Handle for the map frame.

grid_map::GridMap	terrain_map_
	grid_map::GridMap object for terrain data

std::string	terrain_type_
	String for the terrain file name.

std::string	map_data_source_
	string of the source of the terrain map data

bool	map_initialized_ = false
	bool to flag if the map has been initialized yet

double	resolution_
	double for map resolution

double	min_height_
	double for map resolution

double	max_height_
	double for map resolution

Obstacle	obstacle_
	Obstacle object.

Step	step1_
	Step 1 object.

Step	step2_
	Step 2 object.

Detailed Description

A terrain map publishing class.

TerrainMapPublisher is a class for publishing terrain maps from a variety of sources, including from scratch.

Constructor & Destructor Documentation

TerrainMapPublisher::TerrainMapPublisher ( ros::NodeHandle nh )

Constructor for TerrainMapPublisher Class.

Parameters

[in] nh ROS NodeHandle to publish and subscribe from

std::vector< std::vector< double > > TerrainMapPublisher::loadCSV ( std::string filename )

Loads data from a specified CSV file into a nested std::vector structure.

Parameters

[in] filename Path to the CSV file

void TerrainMapPublisher::loadMapFromImage ( const sensor_msgs::Image & msg )

Loads data into the map object from an image topic.

Parameters

[in] msg ROS image message

double TerrainMapPublisher::update_rate_

private

Update rate for sending and receiving data, unused since pubs are called in callbacks

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