.. _program_listing_file__tmp_ws_src_slam_toolbox_include_slam_toolbox_map_saver.hpp:

Program Listing for File map_saver.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_slam_toolbox_include_slam_toolbox_map_saver.hpp>` (``/tmp/ws/src/slam_toolbox/include/slam_toolbox/map_saver.hpp``)

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

.. code-block:: cpp

   /*
    * map_saver
    * Copyright (c) 2019, Samsung Research America
    *
    * THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE
    * COMMONS PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY
    * COPYRIGHT AND/OR OTHER APPLICABLE LAW. ANY USE OF THE WORK OTHER THAN AS
    * AUTHORIZED UNDER THIS LICENSE OR COPYRIGHT LAW IS PROHIBITED.
    *
    * BY EXERCISING ANY RIGHTS TO THE WORK PROVIDED HERE, YOU ACCEPT AND AGREE TO
    * BE BOUND BY THE TERMS OF THIS LICENSE. THE LICENSOR GRANTS YOU THE RIGHTS
    * CONTAINED HERE IN CONSIDERATION OF YOUR ACCEPTANCE OF SUCH TERMS AND
    * CONDITIONS.
    *
    */
   
   /* Author: Steven Macenski */
   
   #ifndef SLAM_TOOLBOX__MAP_SAVER_HPP_
   #define SLAM_TOOLBOX__MAP_SAVER_HPP_
   
   #include <string>
   #include <memory>
   #include <chrono>
   #include "rclcpp/rclcpp.hpp"
   #include "slam_toolbox/toolbox_msgs.hpp"
   
   namespace map_saver
   {
   
   // a service to save a map with a given name as requested
   class MapSaver
   {
   public:
     MapSaver(rclcpp::Node::SharedPtr node, const std::string & service_name);
   
   protected:
     bool saveMapCallback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<slam_toolbox::srv::SaveMap::Request> request,
       std::shared_ptr<slam_toolbox::srv::SaveMap::Response> response);
   
   private:
     rclcpp::Node::SharedPtr node_;
     rclcpp::Service<slam_toolbox::srv::SaveMap>::SharedPtr server_;
     rclcpp::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr sub_;
     std::string service_name_, map_name_;
     bool received_map_;
   };
   
   }  // namespace map_saver
   
   #endif  // SLAM_TOOLBOX__MAP_SAVER_HPP_