MapPublisherBase Class Reference

One "map type" NavigationManagerNode can publish on /global_map. More...

#include <map_publisher_base.hpp>

Inheritance diagram for MapPublisherBase:

Public Member Functions
virtual void	publish (rclcpp::Node &node)=0
	Load the configured map and publish it once on /global_map.

Detailed Description

One "map type" NavigationManagerNode can publish on /global_map.

Costmap is the only implementation today (CostmapMapPublisher); NavMap/Simple are meant to be added later as new implementations of this same interface (registered in NavigationManagerNode's factory), not by restructuring the manager itself. Not a pluginlib plugin – this extensibility point is internal-only, no dynamic .so loading needed for it.

Member Function Documentation

publish()

virtual void publish ( rclcpp::Node & node )

pure virtual

Load the configured map and publish it once on /global_map.

Parameters

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

Implemented in CostmapMapPublisher.

---

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

• easyfleet_navigation_manager/include/easyfleet_navigation_manager/map_publisher_base.hpp