README.md

This package is part of ROS/IOP Bridge.

fkie_iop_client_costmap2d: CostMap2DClient

Request map from CostMap2D and publish the occupancy grid with tf to ROS.

Parameter:

tf_frame_odom (str, Default: "odom")

Defines the odometry frame id.

tf_frame_costmap (str, Default: "costmap")

Defines the map frame id.

hz (int Default: 1.0)

Sets how often the reports are requested. If use_queries is True hz must be greather then 0. In this case each time a Query message is sent to get a report. If use_queries is False an event is created to get Reports. In this case 0 disables the rate and an event of type on_change will be created.

Publisher:

costmap (nav_msgs::OccupancyGrid)

Map reported from CostMap2D service.

Subscriber:

None

TF:

tf_frame_odom -> tf_frame_costmap