Method gridMapCallback

grid_map_demos/src/GridmapToImageDemo.cpp:32–42

}

void GridMapToImageDemo::gridMapCallback(const grid_map_msgs::GridMap& msg)
{
  ROS_INFO("Saving map received from: %s to file %s.", nodeHandle_.resolveName(gridMapTopic_).c_str(), filePath_.c_str());
  grid_map::GridMap map;
  cv_bridge::CvImage image;
  grid_map::GridMapRosConverter::fromMessage(msg, map, {"elevation"});
  grid_map::GridMapRosConverter::toCvImage(map,"elevation", sensor_msgs::image_encodings::MONO8, image);
  bool success = cv::imwrite(filePath_.c_str(),image.image, {cv::IMWRITE_PNG_STRATEGY_DEFAULT});
  ROS_INFO("Success writing image: %s", success?"true":"false");
  ros::shutdown();
}

} /* namespace */