| 18 | namespace grid_map_demos { |
| 19 | |
| 20 | OctomapToGridmapDemo::OctomapToGridmapDemo(ros::NodeHandle& nodeHandle) |
| 21 | : nodeHandle_(nodeHandle), |
| 22 | map_(grid_map::GridMap({"elevation"})) |
| 23 | { |
| 24 | readParameters(); |
| 25 | client_ = nodeHandle_.serviceClient<octomap_msgs::GetOctomap>(octomapServiceTopic_); |
| 26 | map_.setBasicLayers({"elevation"}); |
| 27 | gridMapPublisher_ = nodeHandle_.advertise<grid_map_msgs::GridMap>("grid_map", 1, true); |
| 28 | octomapPublisher_ = nodeHandle_.advertise<octomap_msgs::Octomap>("octomap", 1, true); |
| 29 | } |
| 30 | |
| 31 | OctomapToGridmapDemo::~OctomapToGridmapDemo() |
| 32 | { |
nothing calls this directly
no test coverage detected