.. _program_listing_file__tmp_ws_src_mrpt_navigation_mrpt_map_include_mrpt_map_map_server_node.hpp:

Program Listing for File map_server_node.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mrpt_navigation_mrpt_map_include_mrpt_map_map_server_node.hpp>` (``/tmp/ws/src/mrpt_navigation/mrpt_map/include/mrpt_map/map_server_node.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /* +------------------------------------------------------------------------+
      |                             mrpt_navigation                            |
      |                                                                        |
      | Copyright (c) 2014-2023, Individual contributors, see commit authors   |
      | See: https://github.com/mrpt-ros-pkg/mrpt_navigation                   |
      | All rights reserved. Released under BSD 3-Clause license. See LICENSE  |
      +------------------------------------------------------------------------+ */
   
   #pragma once
   
   #include <mrpt/config/CConfigFile.h>
   #include <mrpt/maps/CMultiMetricMap.h>
   
   #include "nav_msgs/msg/map_meta_data.hpp"
   #include "nav_msgs/msg/occupancy_grid.hpp"
   #include "nav_msgs/srv/get_map.hpp"
   #include "rclcpp/rclcpp.hpp"
   
   class MapServer : public rclcpp::Node
   {
      public:
       MapServer();
       ~MapServer();
       void init();
       void loop();
   
      private:
       // member variables
       double m_frequency{0};  
       bool m_debug{true};  
       // params that come from launch file
       std::string m_pub_metadata_str;  
       std::string m_pub_map_ros_str;  
       std::string m_service_map_str;  
       // publishers and services
       rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr
           m_pub_map_ros;  
       rclcpp::Publisher<nav_msgs::msg::MapMetaData>::SharedPtr
           m_pub_metadata;  
       rclcpp::Service<nav_msgs::srv::GetMap>::SharedPtr
           m_service_map;  
       nav_msgs::srv::GetMap::Response
           m_response_ros;  
   
       mrpt::maps::CMultiMetricMap::Ptr
           m_metric_map;  
   
       void publish_map();
   
       bool map_callback(
           const std::shared_ptr<nav_msgs::srv::GetMap::Request> req,
           const std::shared_ptr<nav_msgs::srv::GetMap::Response> res);
   };