Program Listing for File map_server.hpp

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// Copyright (c) 2018 Intel Corporation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef NAV2_MAP_SERVER__MAP_SERVER_HPP_
#define NAV2_MAP_SERVER__MAP_SERVER_HPP_

#include <string>
#include <memory>
#include <functional>

#include "rclcpp/rclcpp.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "nav_msgs/srv/get_map.hpp"
#include "nav2_msgs/srv/load_map.hpp"

namespace nav2_map_server
{

class MapServer : public nav2_util::LifecycleNode
{
public:
  explicit MapServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  ~MapServer();

protected:
  nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;

  bool loadMapResponseFromYaml(
    const std::string & yaml_file,
    std::shared_ptr<nav2_msgs::srv::LoadMap::Response> response);

  void updateMsgHeader();

  void getMapCallback(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<nav_msgs::srv::GetMap::Request> request,
    std::shared_ptr<nav_msgs::srv::GetMap::Response> response);

  void loadMapCallback(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<nav2_msgs::srv::LoadMap::Request> request,
    std::shared_ptr<nav2_msgs::srv::LoadMap::Response> response);

  // The name of the service for getting a map
  const std::string service_name_{"map"};

  // The name of the service for loading a map
  const std::string load_map_service_name_{"load_map"};

  // A service to provide the occupancy grid (GetMap) and the message to return
  rclcpp::Service<nav_msgs::srv::GetMap>::SharedPtr occ_service_;

  // A service to load the occupancy grid from file at run time (LoadMap)
  rclcpp::Service<nav2_msgs::srv::LoadMap>::SharedPtr load_map_service_;

  // A topic on which the occupancy grid will be published
  rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::OccupancyGrid>::SharedPtr occ_pub_;

  // The frame ID used in the returned OccupancyGrid message
  std::string frame_id_;

  // The message to publish on the occupancy grid topic
  nav_msgs::msg::OccupancyGrid msg_;

  // true if msg_ was initialized
  bool map_available_;
};

}  // namespace nav2_map_server

#endif  // NAV2_MAP_SERVER__MAP_SERVER_HPP_