00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2018, Locus Robotics 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the copyright holder nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef NAV_GRID_PUB_SUB_NAV_GRID_SUBSCRIBER_H 00036 #define NAV_GRID_PUB_SUB_NAV_GRID_SUBSCRIBER_H 00037 00038 #include <ros/ros.h> 00039 #include <nav_grid/nav_grid.h> 00040 #include <nav_core2/bounds.h> 00041 #include <nav_2d_msgs/NavGridOfChars.h> 00042 #include <nav_2d_msgs/NavGridOfCharsUpdate.h> 00043 #include <nav_msgs/OccupancyGrid.h> 00044 #include <map_msgs/OccupancyGridUpdate.h> 00045 #include <string> 00046 #include <vector> 00047 00048 namespace nav_grid_pub_sub 00049 { 00050 class NavGridSubscriber 00051 { 00052 public: 00053 using NewDataCallback = std::function<void(const nav_core2::UIntBounds&)>; 00054 00055 explicit NavGridSubscriber(nav_grid::NavGrid<unsigned char>& data) : data_(data) {} 00056 void init(ros::NodeHandle& nh, NewDataCallback callback, const std::string& topic = "map", 00057 bool nav_grid = true, bool subscribe_to_updates = true); 00058 void activate(); 00059 void deactivate(); 00060 bool hasData() const { return map_received_; } 00061 00062 void setCostInterpretation(const std::vector<unsigned char>& cost_interpretation_table) 00063 { 00064 cost_interpretation_table_ = cost_interpretation_table; 00065 } 00066 protected: 00067 void incomingNav(const nav_2d_msgs::NavGridOfCharsConstPtr& new_map); 00068 void incomingNavUpdate(const nav_2d_msgs::NavGridOfCharsUpdateConstPtr& update); 00069 00070 void incomingOcc(const nav_msgs::OccupancyGridConstPtr& new_map); 00071 void incomingOccUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update); 00072 00073 nav_grid::NavGrid<unsigned char>& data_; 00074 NewDataCallback callback_; 00075 00076 std::vector<unsigned char> cost_interpretation_table_; 00077 00078 ros::Subscriber sub_, update_sub_; 00079 bool map_received_; 00080 00081 ros::NodeHandle nh_; 00082 std::string topic_; 00083 bool nav_grid_, subscribe_to_updates_; 00084 }; 00085 } // namespace nav_grid_pub_sub 00086 00087 #endif // NAV_GRID_PUB_SUB_NAV_GRID_SUBSCRIBER_H