ROS naviagtion analysis: costmap_2d--ObstacleLayer

构造函数

  ObstacleLayer()
  {
    costmap_ = NULL;  // this is the unsigned char* member of parent class Costmap2D.这里指明了costmap_指针保存了Obstacle这一层的地图数据
  }

对于ObstacleLater，首先分析其需要实现的Layer层的方法：

  virtual void onInitialize();
  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,double* max_x, double* max_y);
  virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);

  virtual void activate();
  virtual void deactivate();
  virtual void reset();

函数 onInitialize();：
首先获取参数设定的值，然后新建observation buffer：

    // create an observation buffer
observation_buffers_.push_back(boost::shared_ptr < ObservationBuffer>
 (new ObservationBuffer(topic, observation_keep_time, expected_update_rate, min_obstacle_height,max_obstacle_height, obstacle_range, raytrace_range, *tf_, global_frame_,sensor_frame, transform_tolerance)));

    // check if we'll add this buffer to our marking observation buffers
    if (marking)
      marking_buffers_.push_back(observation_buffers_.back());

    // check if we'll also add this buffer to our clearing observation buffers
    if (clearing)
      clearing_buffers_.push_back(observation_buffers_.back());

然后分别对不同的sensor类型如LaserScan PointCloud PointCloud2，注册不同的回调函数。这里选LaserScan 分析其回调函数：

void ObstacleLayer::laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
                                      const boost::shared_ptr<ObservationBuffer>& buffer)
{
  // project the laser into a point cloud
  sensor_msgs::PointCloud2 cloud;
  cloud.header = message->