nav2_costmap_2d::Costmap2DPublisher Class Reference

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

#include <nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp>

Public Member Functions
	Costmap2DPublisher (const nav2::LifecycleNode::WeakPtr &parent, Costmap2D *costmap, std::string global_frame, std::string topic_name, bool always_send_full_costmap=false, double map_vis_z=0.0)
	Constructor for the Costmap2DPublisher.
	~Costmap2DPublisher ()
	Destructor.
void	on_configure ()
	Configure node.
void	on_activate ()
	Activate node.
void	on_deactivate ()
	deactivate node
void	on_cleanup ()
	Cleanup node.
void	updateBounds (unsigned int x0, unsigned int xn, unsigned int y0, unsigned int yn)
	Include the given bounds in the changed-rectangle.
void	publishCostmap ()
	Publishes the visualization data over ROS. More...

Detailed Description

A tool to periodically publish visualization data from a Costmap2D.

Definition at line 65 of file costmap_2d_publisher.hpp.

Member Function Documentation

publishCostmap()

void nav2_costmap_2d::Costmap2DPublisher::publishCostmap

(

)

Publishes the visualization data over ROS.

Note

Only publishes when the associated layer is enabled

Definition at line 237 of file costmap_2d_publisher.cpp.

References nav2_costmap_2d::Costmap2D::getOriginX(), nav2_costmap_2d::Costmap2D::getOriginY(), nav2_costmap_2d::Costmap2D::getResolution(), nav2_costmap_2d::Costmap2D::getSizeInCellsX(), and nav2_costmap_2d::Costmap2D::getSizeInCellsY().

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

• nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp
• nav2_costmap_2d/src/costmap_2d_publisher.cpp