static_layer.h

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#ifndef RTABMAP_ROS_STATIC_LAYER_H_
#define RTABMAP_ROS_STATIC_LAYER_H_

#include <ros/ros.h>
#include <costmap_2d/costmap_layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/GenericPluginConfig.h>
#include <dynamic_reconfigure/server.h>
#include <nav_msgs/OccupancyGrid.h>
#include <map_msgs/OccupancyGridUpdate.h>
#include <message_filters/subscriber.h>

namespace rtabmap_ros
{

class StaticLayer : public costmap_2d::CostmapLayer
{
public:
  StaticLayer();
  virtual ~StaticLayer();
  virtual void onInitialize();
  virtual void activate();
  virtual void deactivate();
  virtual void reset();

  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, double* max_x,
                             double* max_y);
  virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);

  virtual void matchSize();

private:
  void incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map);
  void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update);
  void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);

  unsigned char interpretValue(unsigned char value);

  std::string global_frame_; 
  bool subscribe_to_updates_;
  bool map_received_;
  bool has_updated_data_;
  unsigned int x_,y_,width_,height_;
  bool track_unknown_space_;
  bool use_maximum_;
  bool trinary_costmap_;
  ros::Subscriber map_sub_, map_update_sub_;

  unsigned char lethal_threshold_, unknown_cost_value_;

  mutable boost::recursive_mutex lock_;
  dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
};

}  // namespace rtabmap_ros

#endif  // RTABMAP_ROS_DYNAMIC_LAYER_H_