Subscribes to the costmap via a ros topic. More...

Collaboration diagram for nav2_costmap_2d::CostmapSubscriber:

Public Member Functions
	CostmapSubscriber (const nav2::LifecycleNode::WeakPtr &parent, const std::string &topic_name)
	A constructor.

template<typename NodeT >
	CostmapSubscriber (const NodeT &parent, const std::string &topic_name)

	~CostmapSubscriber ()
	A destructor.

std::shared_ptr< Costmap2D >	getCostmap ()
	Get current costmap.

void	costmapCallback (const nav2_msgs::msg::Costmap::SharedPtr msg)
	Callback for the costmap topic.

void	costmapUpdateCallback (const nav2_msgs::msg::CostmapUpdate::SharedPtr update_msg)
	Callback for the costmap's update topic.

std::string	getFrameID () const

Protected Member Functions
bool	isCostmapReceived ()

void	processCurrentCostmapMsg ()

bool	haveCostmapParametersChanged ()

bool	hasCostmapSizeChanged ()

bool	hasCostmapResolutionChanged ()

bool	hasCostmapOriginPositionChanged ()

Protected Attributes
nav2::Subscription< nav2_msgs::msg::Costmap >::SharedPtr	costmap_sub_

nav2::Subscription< nav2_msgs::msg::CostmapUpdate >::SharedPtr	costmap_update_sub_

std::shared_ptr< Costmap2D >	costmap_

nav2_msgs::msg::Costmap::SharedPtr	costmap_msg_

std::string	topic_name_

std::string	frame_id_

std::mutex	costmap_msg_mutex_

rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_costmap_2d")}

Detailed Description

Subscribes to the costmap via a ros topic.

Definition at line 33 of file costmap_subscriber.hpp.

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

Public Member Functions