costmap_client.h

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#ifndef COSTMAP_CLIENT_
#define COSTMAP_CLIENT_

#include <costmap_2d/costmap_2d.h>
#include <geometry_msgs/Pose.h>
#include <map_msgs/OccupancyGridUpdate.h>
#include <nav_msgs/OccupancyGrid.h>
#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

namespace explore
{
class Costmap2DClient
{
public:
  Costmap2DClient(ros::NodeHandle& param_nh, ros::NodeHandle& subscription_nh,
                  const tf::TransformListener* tf_listener);
  geometry_msgs::Pose getRobotPose() const;

  costmap_2d::Costmap2D* getCostmap()
  {
    return &costmap_;
  }

  const costmap_2d::Costmap2D* getCostmap() const
  {
    return &costmap_;
  }

  const std::string& getGlobalFrameID() const
  {
    return global_frame_;
  }

  const std::string& getBaseFrameID() const
  {
    return robot_base_frame_;
  }

protected:
  void updateFullMap(const nav_msgs::OccupancyGrid::ConstPtr& msg);
  void updatePartialMap(const map_msgs::OccupancyGridUpdate::ConstPtr& msg);

  costmap_2d::Costmap2D costmap_;

  const tf::TransformListener* const tf_;  
  std::string global_frame_;      
  std::string robot_base_frame_;  
  double transform_tolerance_;    

private:
  // will be unsubscribed at destruction
  ros::Subscriber costmap_sub_;
  ros::Subscriber costmap_updates_sub_;
};

}  // namespace explore

#endif