map_server_node.h

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 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
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#ifndef MRPT_MAP_SERVER_NODE_H
#define MRPT_MAP_SERVER_NODE_H

#include "ros/ros.h"
#include "nav_msgs/MapMetaData.h"
#include "nav_msgs/GetMap.h"
#include "boost/smart_ptr.hpp"

#include <mrpt/version.h>
#if MRPT_VERSION >= 0x199
#include <mrpt/config/CConfigFile.h>
using namespace mrpt::config;
#else
#include <mrpt/utils/CConfigFile.h>
using namespace mrpt::utils;
#endif

#include <mrpt/maps/CMultiMetricMap.h>
using mrpt::maps::CMultiMetricMap;

class MapServer
{
   public:
        MapServer(ros::NodeHandle& n);
        ~MapServer();
        void init();
        void loop();

   private:
        ros::NodeHandle n_;
        ros::NodeHandle n_param_{"~"};
        double frequency_{0};
        unsigned long loop_count_{0};
        bool debug_{true};
        ros::Publisher pub_map_ros_;
        ros::Publisher pub_metadata_;
        ros::ServiceServer service_map_;
        nav_msgs::GetMap::Response resp_ros_;
        boost::shared_ptr<CMultiMetricMap> metric_map_;
        void publishMap();
        bool mapCallback(
                nav_msgs::GetMap::Request& req, nav_msgs::GetMap::Response& res);
};

#endif  // MRPT_MAP_SERVER_NODE_H