.. _program_listing_file__tmp_ws_src_locator_ros_bridge_bosch_locator_bridge_utils_include_bosch_locator_bridge_utils_map_server.hpp:

Program Listing for File map_server.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_locator_ros_bridge_bosch_locator_bridge_utils_include_bosch_locator_bridge_utils_map_server.hpp>` (``/tmp/ws/src/locator_ros_bridge/bosch_locator_bridge_utils/include/bosch_locator_bridge_utils/map_server.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2022 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository https://github.com/boschglobal/locator_ros_bridge.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef BOSCH_LOCATOR_BRIDGE_UTILS__MAP_SERVER_HPP_
   #define BOSCH_LOCATOR_BRIDGE_UTILS__MAP_SERVER_HPP_
   
   #include <string>
   
   #include "nav_msgs/msg/occupancy_grid.hpp"
   #include "nav2_util/lifecycle_node.hpp"
   #include "sensor_msgs/msg/point_cloud2.hpp"
   
   namespace bosch_locator_bridge_utils
   {
   // The MapServer class subscribes to a point cloud map,
   // converts it into a gridmap and publishes it again.
   class MapServer : public nav2_util::LifecycleNode
   {
   public:
     explicit MapServer(const std::string & node_name);
   
   protected:
     nav2_util::CallbackReturn on_configure(
       const rclcpp_lifecycle::State & state) override;
     nav2_util::CallbackReturn on_activate(
       const rclcpp_lifecycle::State & state) override;
     nav2_util::CallbackReturn on_deactivate(
       const rclcpp_lifecycle::State & state) override;
     nav2_util::CallbackReturn on_cleanup(
       const rclcpp_lifecycle::State & state) override;
     nav2_util::CallbackReturn on_shutdown(
       const rclcpp_lifecycle::State & state) override;
   
     void cloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg);
   
     void convertCloud(const sensor_msgs::msg::PointCloud2::SharedPtr cloud);
   
     rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr cloud_sub_;
     rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::OccupancyGrid>::SharedPtr grid_pub_;
   
     std::atomic<bool> active_{false};
   
     std::string frame_id_, topic_name_cloud_;
     nav_msgs::msg::OccupancyGrid grid_msg_;
     float grid_resolution_ = 0.0f;
     int measurement_contribution_ = 0;
   };
   }  // namespace bosch_locator_bridge_utils
   
   #endif  // BOSCH_LOCATOR_BRIDGE_UTILS__MAP_SERVER_HPP_