22 #ifndef _PLUGINS_NAVGRAPH_GENERATOR_VISUALIZATION_THREAD_H_
23 #define _PLUGINS_NAVGRAPH_GENERATOR_VISUALIZATION_THREAD_H_
25 #include "navgraph_generator_thread.h"
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <core/threading/mutex.h>
30 #include <core/threading/thread.h>
31 #include <plugins/ros/aspect/ros.h>
32 #include <ros/publisher.h>
33 #include <visualization_msgs/MarkerArray.h>
47 void publish(
const NavGraphGeneratorThread::ObstacleMap &obstacles,
48 const NavGraphGeneratorThread::ObstacleMap &map_obstacles,
49 const NavGraphGeneratorThread::PoiMap & pois);
52 std::string cfg_global_frame_;
55 ros::Publisher vispub_;
57 NavGraphGeneratorThread::ObstacleMap obstacles_;
58 NavGraphGeneratorThread::ObstacleMap map_obstacles_;
59 NavGraphGeneratorThread::PoiMap pois_;