Program Listing for File map_server_node.hpp

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/* +------------------------------------------------------------------------+
   |                             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);
};