Struct WavemapServerConfig
Defined in File wavemap_server.h
Inheritance Relationships
Base Type
public wavemap::ConfigBase< WavemapServerConfig, 8, LoggingLevel >(Template Struct ConfigBase)
Struct Documentation
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struct WavemapServerConfig : public wavemap::ConfigBase<WavemapServerConfig, 8, LoggingLevel>
Config struct for wavemap’s ROS server.
Public Members
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std::string world_frame = "odom"
Name of the coordinate frame in which to store the map.
Will be used as the frame_id for ROS TF lookups.
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Seconds<FloatingPoint> thresholding_period = 1.f
Time period controlling how often the map is thresholded.
To disable thresholding, set it to a negative number [not recommended].
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Seconds<FloatingPoint> pruning_period = 10.f
Time period controlling how often the map is pruned.
To disable pruning, set it to a negative number.
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Seconds<FloatingPoint> publication_period = 10.f
Time period controlling how often the map is published.
To disable map publishing, set it to a negative number.
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int max_num_blocks_per_msg = 1000
Maximum number of blocks to transmit per wavemap map message.
Used to control the maximum message size. Only works in combination with hash-based map data structures.
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int num_threads = std::max(1, static_cast<int>(std::thread::hardware_concurrency()))
Maximum number of threads to use.
Defaults to the number of threads supported by the CPU.
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LoggingLevel logging_level = LoggingLevel::kInfo
Minimum severity level for ROS logging messages to be logged.
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std::string world_frame = "odom"