CostmapMapPublisher Class Reference

Publishes an OccupancyGrid map on /global_map. More...

#include <costmap_map_publisher.hpp>

Inheritance diagram for CostmapMapPublisher:

Public Member Functions
void	publish (rclcpp::Node &node) override
	Read "map.package"/"map.map_path_file" from node, load the map they name, and publish it once on /global_map (QoS: depth 1, transient_local, reliable – matching what "incoming_map" subscribers expect).

Detailed Description

Publishes an OccupancyGrid map on /global_map.

Loaded the same way easynav_costmap_maps_manager's own CostmapMapsManager loads its local map_path_file, via easynav::loadMapFromYaml() – every robot's own "costmap" maps_manager_node need only remap its "incoming_map" topic to /global_map to receive this centrally instead of loading its own copy (see easyfleet_navigation_manager's README).

Member Function Documentation

publish()

void publish ( rclcpp::Node & node )

overridevirtual

Read "map.package"/"map.map_path_file" from node, load the map they name, and publish it once on /global_map (QoS: depth 1, transient_local, reliable – matching what "incoming_map" subscribers expect).

Parameters

node	Node to declare parameters on and to create the publisher from. Must outlive this CostmapMapPublisher.

Exceptions

std::runtime_error

if the parameters are unset, the named package doesn't exist, or the map YAML/image fails to load.

Implements MapPublisherBase.

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The documentation for this class was generated from the following files:

• easyfleet_navigation_manager/include/easyfleet_navigation_manager/costmap_map_publisher.hpp
• easyfleet_navigation_manager/src/easyfleet_navigation_manager/costmap_map_publisher.cpp