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

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.

bool	active ()
	Check if the publisher is active. 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

bool nav2_costmap_2d::Costmap2DPublisher::active ( )

inline

Check if the publisher is active.

Returns: True if the frequency for the publisher is non-zero, false otherwise

Definition at line 134 of file costmap_2d_publisher.hpp.

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