map_server_node.h

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 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
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#ifndef MRPT_MAP_SERVER_NODE_H
#define MRPT_MAP_SERVER_NODE_H

#include "ros/ros.h"
#include "nav_msgs/MapMetaData.h"
#include "nav_msgs/GetMap.h"
#include "boost/smart_ptr.hpp"

namespace mrpt {
  namespace utils {
    class CConfigFile;
  }
  namespace slam {
    class CMultiMetricMap;
  }
}

class MapServer {
public:
    MapServer(ros::NodeHandle &n);
    ~MapServer();
    void init();
    void loop();
private: 
    ros::NodeHandle n_;
    ros::NodeHandle n_param_;
    double frequency_;
    unsigned long loop_count_;
    bool debug_;
    ros::Publisher pub_map_ros_;
    ros::Publisher pub_metadata_;
    ros::ServiceServer service_map_;
    nav_msgs::GetMap::Response resp_ros_;
    boost::shared_ptr<mrpt::slam::CMultiMetricMap> metric_map_;
    void publishMap ();
    bool mapCallback(nav_msgs::GetMap::Request  &req, nav_msgs::GetMap::Response &res );
};


#endif // MRPT_MAP_SERVER_NODE_H