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"
#include <pcl_conversions/pcl_conversions.h>
Go to the source code of this file.
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. More... | |
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 |
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.
Definition in 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.
[in] | pcmsg_in | PointCloud subscribed |
Navigability_Map* g_NavMap |