PathCreator
A path creator tool for teleoperated navigation.
path_creator::PathCreatorRos Class Reference

#include <PathCreatorRos.hpp>

Inheritance diagram for path_creator::PathCreatorRos:
Inheritance graph

Public Member Functions

 PathCreatorRos ()=delete
 
 PathCreatorRos (any_node::Node::NodeHandlePtr nh)
 
 ~PathCreatorRos () override=default
 
bool init () override
 
void cleanup () override
 
bool updatePathCreatorRos (const any_worker::WorkerEvent &event)
 

Protected Member Functions

void initMarkerMenu ()
 
void initRosInterfaces ()
 
void insertMarkerToServer (const intMarker_t &marker)
 
void toggleMenuEntryCheckState (entryHandle_t handle, checkState_t &state)
 
void updateNode (const int index)
 
void updateVisualization ()
 
void updateVisualizationByIndex (const int index)
 
kindr::HomogeneousTransformationPosition3RotationQuaternionD getTransform (const std::string &targetFrame, const std::string &sourceFrame)
 
void transformPose (const kindr::HomogeneousTransformationPosition3RotationQuaternionD &T_target_source, const geometry_msgs::Pose &sourcePose, geometry_msgs::Pose &targetPose)
 
bool getElevationMap ()
 
void setNodeHeightToElevationMap (const int &index)
 
void changeModeMenuCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void fixMarkerAtBaseCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void fixMarkerOrientationMenuCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void fixMarkerPoseMenuCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void fixMarkerPositionMenuCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void increaseScaleMenuCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void decreaseScaleMenuCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void resetScaleMenuCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void printPoseMenuCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void removeThisMarkerMenuCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void passThroughNodeCb (const intMarkerFeedbackConstPtr_t &feedback)
 
void processFeedbackMultipleMarkers (const intMarkerFeedbackConstPtr_t &feedback)
 
void processFeedbackSingleMarker (const intMarkerFeedbackConstPtr_t &feedback)
 
bool addInitialNodePairCallback (path_creator_msgs::AddNode::Request &req, path_creator_msgs::AddNode::Response &res)
 
bool addNodeCallback (path_creator_msgs::AddNode::Request &req, path_creator_msgs::AddNode::Response &res)
 
bool addNumNodesCallback (path_creator_msgs::AddNumNodes::Request &req, path_creator_msgs::AddNumNodes::Response &res)
 
bool autoSetOrientationCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool exportToFileCallback (path_creator_msgs::SaveTxtFile::Request &req, path_creator_msgs::SaveTxtFile::Response &res)
 
bool getLocalGuidanceModeColorMapCallback (path_creator_msgs::GetModeColorMap::Request &req, path_creator_msgs::GetModeColorMap::Response &res)
 
bool getNodePoseCallback (path_creator_msgs::GetNodePose::Request &req, path_creator_msgs::GetNodePose::Response &res)
 
bool loadFromFileCallback (path_creator_msgs::SaveTxtFile::Request &req, path_creator_msgs::SaveTxtFile::Response &res)
 
bool removeAllNodesCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool removeNodeByIndexCallback (path_creator_msgs::RemoveNode::Request &req, path_creator_msgs::RemoveNode::Response &res)
 
bool resetNodeHeightCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool setGlobalModeCallback (path_creator_msgs::SetGlobalMode::Request &req, path_creator_msgs::SetGlobalMode::Response &res)
 
bool setNewPathCallback (path_creator_msgs::SetNewPath::Request &req, path_creator_msgs::SetNewPath::Response &res)
 
bool snapToMapCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool toggleMarkerProcessFeedbackCallback (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res)
 
bool updateElevationMapCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool undoLastChangeCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool getPathFromTravPlannerCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool increaseScaleAllMarkersCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool decreaseScaleAllMarkersCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool resetScaleAllMarkersCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
void travPlannerActionDoneCb (const actionlib::SimpleClientGoalState &state, const TravPlannerActionResultConstPtr &result)
 
void travPlannerActionFeedbackCb (const TravPlannerActionFeedbackConstPtr &feedback)
 
void travPlannerActionActiveCb ()
 

Protected Attributes

ros::ServiceServer addInitialNodePairService_
 
ros::ServiceServer addNodeService_
 
ros::ServiceServer addNumNodesService_
 
ros::ServiceServer autoSetOrientationService_
 
ros::ServiceServer exportToFileService_
 
ros::ServiceServer getLocalGuidanceModeColorMapService_
 
ros::ServiceServer getNodePoseService_
 
ros::ServiceServer loadPathFromFileService_
 
ros::ServiceServer removeAllNodesService_
 
ros::ServiceServer removeNodeService_
 
ros::ServiceServer resetNodeHeightService_
 
ros::ServiceServer setGlobalModeService_
 
ros::ServiceServer setNewPathGuiRequestService_
 
ros::ServiceServer snapToMapService_
 
ros::ServiceServer toggleMarkerProcessFeedbackService_
 
ros::ServiceServer updateElevationMapService_
 
ros::ServiceServer undoLastChangeService_
 
ros::ServiceServer getPathFromTravPlannerService_
 
ros::ServiceServer increaseScaleAllMarkersService_
 
ros::ServiceServer decreaseScaleAllMarkersService_
 
ros::ServiceServer resetScaleAllMarkersService_
 
ros::ServiceClient getElevationMapService_
 
ros::ServiceClient getTravPlannerFrameIdService_
 
ros::Publisher edgePublisher_
 
TravPlannerActionClientPtr getPathFromTravPlannerClient_
 
tf::TransformListener tfListener_
 TF listener. More...
 
double timeStep_
 The any_node::Node's worker frequency. More...
 
std::string workerName_
 The any_node::Node's worker name. More...
 
PathCreatorCore path_
 The created path. More...
 
boost::shared_ptr< intMarkerServer_tserver_
 The interactive marker server. More...
 
menuHandler_t menuHandler_
 The handler to manage the interactive markers' menus. More...
 
menuHandler_t initialMenuConfig_
 The initial menu configuration of each interactive marker. More...
 
std::map< std::string, menuHandler_t::EntryHandle > menuEntryModeHandles_
 A map to refer Local Guidance menu entries (key) to their respective handle (value). More...
 
std::map< std::string, menuHandler_t::EntryHandle > menuEntryFixStatusHandles_
 A map to refer marker fix status' entries (key) to their respective handle (value). More...
 
std::string edgePublisherTopic_
 The topic on which edges are published. More...
 
std::string elevationLayerName_
 Name of the elevation layer to be used to snap to map nodes. More...
 
grid_map::GridMap elevationMap_
 A local representation of the elevation map. More...
 
bool haveElevationMap_
 Whether a local elevation map is present or not. More...
 
double snapToMapZAddition_
 Holds the amount of space to add between elevation value and marker's position. More...
 
bool snapToMapActive_
 Whether or not the snap-to-map feature is active (i.e., whether the nodes' z-values are adjusted to fit to an elevation map). More...
 
bool singleMarkerCallbackActive_
 Flag to handle, whether single marker or multiple marker callback is active. More...
 

Private Types

using TravPlannerActionClient = actionlib::SimpleActionClient< navigation_msgs::PlanPathAction >
 
using TravPlannerActionClientPtr = std::shared_ptr< TravPlannerActionClient >
 
using TravPlannerActionResultConstPtr = navigation_msgs::PlanPathResultConstPtr
 
using TravPlannerActionFeedbackConstPtr = navigation_msgs::PlanPathFeedbackConstPtr
 

Member Typedef Documentation

◆ TravPlannerActionClient

using path_creator::PathCreatorRos::TravPlannerActionClient = actionlib::SimpleActionClient<navigation_msgs::PlanPathAction>
private

◆ TravPlannerActionClientPtr

◆ TravPlannerActionFeedbackConstPtr

using path_creator::PathCreatorRos::TravPlannerActionFeedbackConstPtr = navigation_msgs::PlanPathFeedbackConstPtr
private

◆ TravPlannerActionResultConstPtr

using path_creator::PathCreatorRos::TravPlannerActionResultConstPtr = navigation_msgs::PlanPathResultConstPtr
private

Constructor & Destructor Documentation

◆ PathCreatorRos() [1/2]

path_creator::PathCreatorRos::PathCreatorRos ( )
delete

◆ PathCreatorRos() [2/2]

path_creator::PathCreatorRos::PathCreatorRos ( any_node::Node::NodeHandlePtr  nh)
inlineexplicit

◆ ~PathCreatorRos()

path_creator::PathCreatorRos::~PathCreatorRos ( )
overridedefault

Member Function Documentation

◆ addInitialNodePairCallback()

bool path_creator::PathCreatorRos::addInitialNodePairCallback ( path_creator_msgs::AddNode::Request req,
path_creator_msgs::AddNode::Response res 
)
protected

◆ addNodeCallback()

bool path_creator::PathCreatorRos::addNodeCallback ( path_creator_msgs::AddNode::Request req,
path_creator_msgs::AddNode::Response res 
)
protected

◆ addNumNodesCallback()

bool path_creator::PathCreatorRos::addNumNodesCallback ( path_creator_msgs::AddNumNodes::Request req,
path_creator_msgs::AddNumNodes::Response res 
)
protected

◆ autoSetOrientationCallback()

bool path_creator::PathCreatorRos::autoSetOrientationCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

◆ changeModeMenuCb()

void path_creator::PathCreatorRos::changeModeMenuCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ cleanup()

void path_creator::PathCreatorRos::cleanup ( )
override

◆ decreaseScaleAllMarkersCallback()

bool path_creator::PathCreatorRos::decreaseScaleAllMarkersCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

◆ decreaseScaleMenuCb()

void path_creator::PathCreatorRos::decreaseScaleMenuCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ exportToFileCallback()

bool path_creator::PathCreatorRos::exportToFileCallback ( path_creator_msgs::SaveTxtFile::Request req,
path_creator_msgs::SaveTxtFile::Response res 
)
protected

◆ fixMarkerAtBaseCb()

void path_creator::PathCreatorRos::fixMarkerAtBaseCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ fixMarkerOrientationMenuCb()

void path_creator::PathCreatorRos::fixMarkerOrientationMenuCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ fixMarkerPoseMenuCb()

void path_creator::PathCreatorRos::fixMarkerPoseMenuCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ fixMarkerPositionMenuCb()

void path_creator::PathCreatorRos::fixMarkerPositionMenuCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ getElevationMap()

bool path_creator::PathCreatorRos::getElevationMap ( )
protected

Queries and stores a local copy of the elevation map.

Returns
True, if the elevation map was successfully retrieved, false otherwise.

◆ getLocalGuidanceModeColorMapCallback()

bool path_creator::PathCreatorRos::getLocalGuidanceModeColorMapCallback ( path_creator_msgs::GetModeColorMap::Request req,
path_creator_msgs::GetModeColorMap::Response res 
)
protected

◆ getNodePoseCallback()

bool path_creator::PathCreatorRos::getNodePoseCallback ( path_creator_msgs::GetNodePose::Request req,
path_creator_msgs::GetNodePose::Response res 
)
protected

◆ getPathFromTravPlannerCallback()

bool path_creator::PathCreatorRos::getPathFromTravPlannerCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

◆ getTransform()

kindr::HomogeneousTransformationPosition3RotationQuaternionD path_creator::PathCreatorRos::getTransform ( const std::string &  targetFrame,
const std::string &  sourceFrame 
)
protected

Gets the latest tf transform from source to target frame ID.

Parameters
targetFrameThe target frame ID.
sourceFrameThe source frame ID.
Returns
The homogeneous transformation matrix.

◆ increaseScaleAllMarkersCallback()

bool path_creator::PathCreatorRos::increaseScaleAllMarkersCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

◆ increaseScaleMenuCb()

void path_creator::PathCreatorRos::increaseScaleMenuCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ init()

bool path_creator::PathCreatorRos::init ( )
override

◆ initMarkerMenu()

void path_creator::PathCreatorRos::initMarkerMenu ( )
protected

Initialize the Interactive Marker menu.

◆ initRosInterfaces()

void path_creator::PathCreatorRos::initRosInterfaces ( )
protected

Initialize ROS interfaces (e.g., services, publishers, etc.).

◆ insertMarkerToServer()

void path_creator::PathCreatorRos::insertMarkerToServer ( const intMarker_t marker)
protected

Insert an InteractiveMarker to the marker server.

Parameters
[in]markerThe Interactive Marker to be inserted to the server.

◆ loadFromFileCallback()

bool path_creator::PathCreatorRos::loadFromFileCallback ( path_creator_msgs::SaveTxtFile::Request req,
path_creator_msgs::SaveTxtFile::Response res 
)
protected

◆ passThroughNodeCb()

void path_creator::PathCreatorRos::passThroughNodeCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ printPoseMenuCb()

void path_creator::PathCreatorRos::printPoseMenuCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ processFeedbackMultipleMarkers()

void path_creator::PathCreatorRos::processFeedbackMultipleMarkers ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ processFeedbackSingleMarker()

void path_creator::PathCreatorRos::processFeedbackSingleMarker ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ removeAllNodesCallback()

bool path_creator::PathCreatorRos::removeAllNodesCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

◆ removeNodeByIndexCallback()

bool path_creator::PathCreatorRos::removeNodeByIndexCallback ( path_creator_msgs::RemoveNode::Request req,
path_creator_msgs::RemoveNode::Response res 
)
protected

◆ removeThisMarkerMenuCb()

void path_creator::PathCreatorRos::removeThisMarkerMenuCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ resetNodeHeightCallback()

bool path_creator::PathCreatorRos::resetNodeHeightCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

◆ resetScaleAllMarkersCallback()

bool path_creator::PathCreatorRos::resetScaleAllMarkersCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

◆ resetScaleMenuCb()

void path_creator::PathCreatorRos::resetScaleMenuCb ( const intMarkerFeedbackConstPtr_t feedback)
protected

◆ setGlobalModeCallback()

bool path_creator::PathCreatorRos::setGlobalModeCallback ( path_creator_msgs::SetGlobalMode::Request req,
path_creator_msgs::SetGlobalMode::Response res 
)
protected

◆ setNewPathCallback()

bool path_creator::PathCreatorRos::setNewPathCallback ( path_creator_msgs::SetNewPath::Request req,
path_creator_msgs::SetNewPath::Response res 
)
protected

◆ setNodeHeightToElevationMap()

void path_creator::PathCreatorRos::setNodeHeightToElevationMap ( const int &  index)
protected

Sets a node's height value to the one specified in an elevation map.

Parameters
indexThe index of the node to set the height value.

◆ snapToMapCallback()

bool path_creator::PathCreatorRos::snapToMapCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

◆ toggleMarkerProcessFeedbackCallback()

bool path_creator::PathCreatorRos::toggleMarkerProcessFeedbackCallback ( std_srvs::SetBool::Request &  req,
std_srvs::SetBool::Response &  res 
)
protected

◆ toggleMenuEntryCheckState()

void path_creator::PathCreatorRos::toggleMenuEntryCheckState ( entryHandle_t  handle,
checkState_t state 
)
protected

Toggle Check State of 'handle' to 'state' and all others to the other state (e.g., CHECKED vs UNCHECKED).

Parameters
[in]handleThe handle whose Check State should be adapted.
[in]stateThe desired Check State of the handle (i.e., CHECKED or UNCHECKED).

◆ transformPose()

void path_creator::PathCreatorRos::transformPose ( const kindr::HomogeneousTransformationPosition3RotationQuaternionD &  T_target_source,
const geometry_msgs::Pose &  sourcePose,
geometry_msgs::Pose &  targetPose 
)
protected

Transforms a pose using the given transformation.

Parameters
transformThe homogeneous transformation matrix (i.e., targetPose = T_target_source * sourcePose).
sourcePoseThe source pose.
targetPoseThe target pose.

◆ travPlannerActionActiveCb()

void path_creator::PathCreatorRos::travPlannerActionActiveCb ( )
protected

◆ travPlannerActionDoneCb()

void path_creator::PathCreatorRos::travPlannerActionDoneCb ( const actionlib::SimpleClientGoalState &  state,
const TravPlannerActionResultConstPtr result 
)
protected

◆ travPlannerActionFeedbackCb()

void path_creator::PathCreatorRos::travPlannerActionFeedbackCb ( const TravPlannerActionFeedbackConstPtr feedback)
protected

◆ undoLastChangeCallback()

bool path_creator::PathCreatorRos::undoLastChangeCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

◆ updateElevationMapCallback()

bool path_creator::PathCreatorRos::updateElevationMapCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
protected

◆ updateNode()

void path_creator::PathCreatorRos::updateNode ( const int  index)
protected

Updates all relevant information of a node (e.g., color, menu, etc.)

Parameters
[in]indexThe index of the node to update.

◆ updatePathCreatorRos()

bool path_creator::PathCreatorRos::updatePathCreatorRos ( const any_worker::WorkerEvent &  event)

◆ updateVisualization()

void path_creator::PathCreatorRos::updateVisualization ( )
protected

Update the visualization.

◆ updateVisualizationByIndex()

void path_creator::PathCreatorRos::updateVisualizationByIndex ( const int  index)
protected

Update the visualization for a single node.

Parameters
[in]indexThe index of the node to update.

Member Data Documentation

◆ addInitialNodePairService_

ros::ServiceServer path_creator::PathCreatorRos::addInitialNodePairService_
protected

◆ addNodeService_

ros::ServiceServer path_creator::PathCreatorRos::addNodeService_
protected

◆ addNumNodesService_

ros::ServiceServer path_creator::PathCreatorRos::addNumNodesService_
protected

◆ autoSetOrientationService_

ros::ServiceServer path_creator::PathCreatorRos::autoSetOrientationService_
protected

◆ decreaseScaleAllMarkersService_

ros::ServiceServer path_creator::PathCreatorRos::decreaseScaleAllMarkersService_
protected

◆ edgePublisher_

ros::Publisher path_creator::PathCreatorRos::edgePublisher_
protected

◆ edgePublisherTopic_

std::string path_creator::PathCreatorRos::edgePublisherTopic_
protected

The topic on which edges are published.

◆ elevationLayerName_

std::string path_creator::PathCreatorRos::elevationLayerName_
protected

Name of the elevation layer to be used to snap to map nodes.

◆ elevationMap_

grid_map::GridMap path_creator::PathCreatorRos::elevationMap_
protected

A local representation of the elevation map.

◆ exportToFileService_

ros::ServiceServer path_creator::PathCreatorRos::exportToFileService_
protected

◆ getElevationMapService_

ros::ServiceClient path_creator::PathCreatorRos::getElevationMapService_
protected

◆ getLocalGuidanceModeColorMapService_

ros::ServiceServer path_creator::PathCreatorRos::getLocalGuidanceModeColorMapService_
protected

◆ getNodePoseService_

ros::ServiceServer path_creator::PathCreatorRos::getNodePoseService_
protected

◆ getPathFromTravPlannerClient_

TravPlannerActionClientPtr path_creator::PathCreatorRos::getPathFromTravPlannerClient_
protected

◆ getPathFromTravPlannerService_

ros::ServiceServer path_creator::PathCreatorRos::getPathFromTravPlannerService_
protected

◆ getTravPlannerFrameIdService_

ros::ServiceClient path_creator::PathCreatorRos::getTravPlannerFrameIdService_
protected

◆ haveElevationMap_

bool path_creator::PathCreatorRos::haveElevationMap_
protected

Whether a local elevation map is present or not.

◆ increaseScaleAllMarkersService_

ros::ServiceServer path_creator::PathCreatorRos::increaseScaleAllMarkersService_
protected

◆ initialMenuConfig_

menuHandler_t path_creator::PathCreatorRos::initialMenuConfig_
protected

The initial menu configuration of each interactive marker.

◆ loadPathFromFileService_

ros::ServiceServer path_creator::PathCreatorRos::loadPathFromFileService_
protected

◆ menuEntryFixStatusHandles_

std::map<std::string, menuHandler_t::EntryHandle> path_creator::PathCreatorRos::menuEntryFixStatusHandles_
protected

A map to refer marker fix status' entries (key) to their respective handle (value).

◆ menuEntryModeHandles_

std::map<std::string, menuHandler_t::EntryHandle> path_creator::PathCreatorRos::menuEntryModeHandles_
protected

A map to refer Local Guidance menu entries (key) to their respective handle (value).

◆ menuHandler_

menuHandler_t path_creator::PathCreatorRos::menuHandler_
protected

The handler to manage the interactive markers' menus.

◆ path_

PathCreatorCore path_creator::PathCreatorRos::path_
protected

The created path.

◆ removeAllNodesService_

ros::ServiceServer path_creator::PathCreatorRos::removeAllNodesService_
protected

◆ removeNodeService_

ros::ServiceServer path_creator::PathCreatorRos::removeNodeService_
protected

◆ resetNodeHeightService_

ros::ServiceServer path_creator::PathCreatorRos::resetNodeHeightService_
protected

◆ resetScaleAllMarkersService_

ros::ServiceServer path_creator::PathCreatorRos::resetScaleAllMarkersService_
protected

◆ server_

boost::shared_ptr<intMarkerServer_t> path_creator::PathCreatorRos::server_
protected

The interactive marker server.

◆ setGlobalModeService_

ros::ServiceServer path_creator::PathCreatorRos::setGlobalModeService_
protected

◆ setNewPathGuiRequestService_

ros::ServiceServer path_creator::PathCreatorRos::setNewPathGuiRequestService_
protected

◆ singleMarkerCallbackActive_

bool path_creator::PathCreatorRos::singleMarkerCallbackActive_
protected

Flag to handle, whether single marker or multiple marker callback is active.

◆ snapToMapActive_

bool path_creator::PathCreatorRos::snapToMapActive_
protected

Whether or not the snap-to-map feature is active (i.e., whether the nodes' z-values are adjusted to fit to an elevation map).

◆ snapToMapService_

ros::ServiceServer path_creator::PathCreatorRos::snapToMapService_
protected

◆ snapToMapZAddition_

double path_creator::PathCreatorRos::snapToMapZAddition_
protected

Holds the amount of space to add between elevation value and marker's position.

◆ tfListener_

tf::TransformListener path_creator::PathCreatorRos::tfListener_
protected

TF listener.

◆ timeStep_

double path_creator::PathCreatorRos::timeStep_
protected

The any_node::Node's worker frequency.

◆ toggleMarkerProcessFeedbackService_

ros::ServiceServer path_creator::PathCreatorRos::toggleMarkerProcessFeedbackService_
protected

◆ undoLastChangeService_

ros::ServiceServer path_creator::PathCreatorRos::undoLastChangeService_
protected

◆ updateElevationMapService_

ros::ServiceServer path_creator::PathCreatorRos::updateElevationMapService_
protected

◆ workerName_

std::string path_creator::PathCreatorRos::workerName_
protected

The any_node::Node's worker name.


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