Program Listing for File slam_toolbox_map_and_localization.hpp

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/*
 * slam_toolbox
 * Copyright (c) 2022, Steve Macenski
 *
 * 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.
 *
 */

#ifndef SLAM_TOOLBOX__SLAM_TOOLBOX_MAP_AND_LOCALIZATION_HPP_
#define SLAM_TOOLBOX__SLAM_TOOLBOX_MAP_AND_LOCALIZATION_HPP_

#include <memory>
#include "slam_toolbox/slam_toolbox_localization.hpp"
#include "std_srvs/srv/set_bool.hpp"

namespace slam_toolbox
{

class MapAndLocalizationSlamToolbox : public LocalizationSlamToolbox
{
public:
  explicit MapAndLocalizationSlamToolbox(rclcpp::NodeOptions options);
  virtual ~MapAndLocalizationSlamToolbox() {}
  void loadPoseGraphByParams() override;
  void configure() override;

protected:
  void laserCallback(
    sensor_msgs::msg::LaserScan::ConstSharedPtr scan) override;
  bool serializePoseGraphCallback(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<slam_toolbox::srv::SerializePoseGraph::Request> req,
    std::shared_ptr<slam_toolbox::srv::SerializePoseGraph::Response> resp) override;
  bool deserializePoseGraphCallback(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Request> req,
    std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Response> resp) override;
  bool setLocalizationModeCallback(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<std_srvs::srv::SetBool::Request> req,
    std::shared_ptr<std_srvs::srv::SetBool::Response> resp);
  LocalizedRangeScan * addScan(
    LaserRangeFinder * laser,
    const sensor_msgs::msg::LaserScan::ConstSharedPtr & scan,
    Pose2 & pose) override;
  void toggleMode(bool enable_localization);

  std::shared_ptr<rclcpp::Service<std_srvs::srv::SetBool>> ssSetLocalizationMode_;
};

}  // namespace slam_toolbox

#endif  // SLAM_TOOLBOX__SLAM_TOOLBOX_MAP_AND_LOCALIZATION_HPP_