nav_grid_subscriber.h

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#ifndef NAV_GRID_PUB_SUB_NAV_GRID_SUBSCRIBER_H
#define NAV_GRID_PUB_SUB_NAV_GRID_SUBSCRIBER_H

#include <ros/ros.h>
#include <nav_grid/nav_grid.h>
#include <nav_core2/bounds.h>
#include <nav_2d_msgs/NavGridOfChars.h>
#include <nav_2d_msgs/NavGridOfCharsUpdate.h>
#include <nav_msgs/OccupancyGrid.h>
#include <map_msgs/OccupancyGridUpdate.h>
#include <string>
#include <vector>

namespace nav_grid_pub_sub
{
class NavGridSubscriber
{
public:
  using NewDataCallback = std::function<void(const nav_core2::UIntBounds&)>;

  explicit NavGridSubscriber(nav_grid::NavGrid<unsigned char>& data) : data_(data) {}
  void init(ros::NodeHandle& nh, NewDataCallback callback, const std::string& topic = "map",
            bool nav_grid = true, bool subscribe_to_updates = true);
  void activate();
  void deactivate();
  bool hasData() const { return map_received_; }

  void setCostInterpretation(const std::vector<unsigned char>& cost_interpretation_table)
  {
    cost_interpretation_table_ = cost_interpretation_table;
  }
protected:
  void incomingNav(const nav_2d_msgs::NavGridOfCharsConstPtr& new_map);
  void incomingNavUpdate(const nav_2d_msgs::NavGridOfCharsUpdateConstPtr& update);

  void incomingOcc(const nav_msgs::OccupancyGridConstPtr& new_map);
  void incomingOccUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update);

  nav_grid::NavGrid<unsigned char>& data_;
  NewDataCallback callback_;

  std::vector<unsigned char> cost_interpretation_table_;

  ros::Subscriber sub_, update_sub_;
  bool map_received_;

  ros::NodeHandle nh_;
  std::string topic_;
  bool nav_grid_, subscribe_to_updates_;
};
}  // namespace nav_grid_pub_sub

#endif  // NAV_GRID_PUB_SUB_NAV_GRID_SUBSCRIBER_H