00001 /*********************************************************************************** 00002 * Revised BSD License * 00003 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> * 00004 * All rights reserved. * 00005 * * 00006 * Redistribution and use in source and binary forms, with or without * 00007 * modification, are permitted provided that the following conditions are met: * 00008 * * Redistributions of source code must retain the above copyright * 00009 * notice, this list of conditions and the following disclaimer. * 00010 * * Redistributions in binary form must reproduce the above copyright * 00011 * notice, this list of conditions and the following disclaimer in the * 00012 * documentation and/or other materials provided with the distribution. * 00013 * * Neither the name of the Vienna University of Technology nor the * 00014 * names of its contributors may be used to endorse or promote products * 00015 * derived from this software without specific prior written permission. * 00016 * * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * 00018 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * 00019 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * 00020 * DISCLAIMED. IN NO EVENT SHALL Markus Bader BE LIABLE FOR ANY * 00021 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * 00022 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * 00023 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * 00024 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * 00025 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * 00026 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * * 00027 ***********************************************************************************/ 00028 00029 #ifndef MRPT_MAP_SERVER_NODE_H 00030 #define MRPT_MAP_SERVER_NODE_H 00031 00032 #include "ros/ros.h" 00033 #include "nav_msgs/MapMetaData.h" 00034 #include "nav_msgs/GetMap.h" 00035 #include "boost/smart_ptr.hpp" 00036 00037 namespace mrpt { 00038 namespace utils { 00039 class CConfigFile; 00040 } 00041 namespace slam { 00042 class CMultiMetricMap; 00043 } 00044 } 00045 00046 class MapServer { 00047 public: 00048 MapServer(ros::NodeHandle &n); 00049 ~MapServer(); 00050 void init(); 00051 void loop(); 00052 private: 00053 ros::NodeHandle n_; 00054 ros::NodeHandle n_param_; 00055 double frequency_; 00056 unsigned long loop_count_; 00057 bool debug_; 00058 ros::Publisher pub_map_ros_; 00059 ros::Publisher pub_metadata_; 00060 ros::ServiceServer service_map_; 00061 nav_msgs::GetMap::Response resp_ros_; 00062 boost::shared_ptr<mrpt::slam::CMultiMetricMap> metric_map_; 00063 void publishMap (); 00064 bool mapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res ); 00065 }; 00066 00067 00068 #endif // MRPT_MAP_SERVER_NODE_H