| 156 | } |
| 157 | |
| 158 | void GridMapVisualization::callback(const grid_map_msgs::GridMap& message) |
| 159 | { |
| 160 | ROS_DEBUG("Grid map visualization received a map (timestamp %f) for visualization.", |
| 161 | message.info.header.stamp.toSec()); |
| 162 | grid_map::GridMap map; |
| 163 | grid_map::GridMapRosConverter::fromMessage(message, map); |
| 164 | |
| 165 | for (auto& visualization : visualizations_) { |
| 166 | visualization->visualize(map); |
| 167 | } |
| 168 | } |
| 169 | |
| 170 | } /* namespace */ |