/home/laradmin/lar/perception/navigability_map/src/main.cpp File Reference

Nodelet that use Navigability_Map class to generate a Accessibility Map. This nodelet subscribes sensor_msgs::PointCloud2 and filters the PointCloud, then it generates a Grid with each node containing data from the PointCloud. More...

#include <navigability_map/navigability_map.h>
#include "representation_rviz.h"

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Functions
int	main (int argc, char **argv)
pcl::PointCloud< pcl::PointXYZ > ::Ptr	pc_filter (new pcl::PointCloud< pcl::PointXYZ >)
void	pointcloud_cb (sensor_msgs::PointCloud2 pcmsg_in)
	Callback from the Pointcloud subscribed topic This calback filter the pointcloud uses de Navigability_Map class to generate a navigability_map.
Variables
ros::Publisher	accessibility_map_pub
bool	cloud_arrived = false
ros::Publisher	elevation_map_pub
Navigability_Map *	g_NavMap
ros::Publisher	normals_pub
ros::Publisher	obstacle_pub
tf::TransformListener *	p_listener
ros::Publisher	polygon_pub

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Detailed Description

Nodelet that use Navigability_Map class to generate a Accessibility Map. This nodelet subscribes sensor_msgs::PointCloud2 and filters the PointCloud, then it generates a Grid with each node containing data from the PointCloud.

Author:

Diogo Matos

Date:

June 2013

Definition in file main.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 137 of file main.cpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr pc_filter

(

new pcl::PointCloud< pcl::PointXYZ >

)

void pointcloud_cb

(

sensor_msgs::PointCloud2

pcmsg_in

)

Callback from the Pointcloud subscribed topic This calback filter the pointcloud uses de Navigability_Map class to generate a navigability_map.

Parameters:

[in]

pcmsg_in

PointCloud subscribed

Definition at line 60 of file main.cpp.

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Variable Documentation

ros::Publisher accessibility_map_pub

Definition at line 46 of file main.cpp.

bool cloud_arrived = false

Definition at line 42 of file main.cpp.

ros::Publisher elevation_map_pub

Definition at line 44 of file main.cpp.

Navigability_Map* g_NavMap

Definition at line 41 of file main.cpp.

ros::Publisher normals_pub

Definition at line 45 of file main.cpp.

ros::Publisher obstacle_pub

Definition at line 48 of file main.cpp.

tf::TransformListener* p_listener

Definition at line 52 of file main.cpp.

ros::Publisher polygon_pub

Definition at line 47 of file main.cpp.