A class that provides map saving methods and services. More...

#include <nav2_map_server/include/nav2_map_server/map_saver.hpp>

Inheritance diagram for nav2_map_server::MapSaver:

Collaboration diagram for nav2_map_server::MapSaver:

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Public Member Functions
	MapSaver (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor for the nav2_map_server::MapSaver. More...

	~MapSaver ()
	Destructor for the nav2_map_server::MapServer.

bool	saveMapTopicToFile (const std::string &map_topic, const SaveParameters &save_parameters)
	Read a message from incoming map topic and save map to a file. More...

nav2_util::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	Sets up map saving service. More...

nav2_util::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Called when node switched to active state. More...

nav2_util::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Called when node switched to inactive state. More...

nav2_util::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Called when it is required node clean-up. More...

nav2_util::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Called when in Shutdown state. More...

Public Member Functions inherited from nav2_util::LifecycleNode
	LifecycleNode (const std::string &node_name, const std::string &ns="", const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has no integer or floating point range constraints. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const floating_point_range fp_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has a floating point range constraint. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const integer_range int_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has an integer range constraint. More...

std::shared_ptr< nav2_util::LifecycleNode >	shared_from_this ()
	Get a shared pointer of this.

nav2_util::CallbackReturn	on_error (const rclcpp_lifecycle::State &)
	Abstracted on_error state transition callback, since unimplemented as of 2020 in the managed ROS2 node state machine. More...

void	autostart ()
	Automatically configure and active the node.

virtual void	on_rcl_preshutdown ()
	Perform preshutdown activities before our Context is shutdown. Note that this is related to our Context's shutdown sequence, not the lifecycle node state machine.

void	createBond ()
	Create bond connection to lifecycle manager.

void	destroyBond ()
	Destroy bond connection to lifecycle manager.

Protected Member Functions
void	saveMapCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< nav2_msgs::srv::SaveMap::Request > request, std::shared_ptr< nav2_msgs::srv::SaveMap::Response > response)
	Map saving service callback. More...

Protected Member Functions inherited from nav2_util::LifecycleNode
void	printLifecycleNodeNotification ()
	Print notifications for lifecycle node.

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
std::shared_ptr< rclcpp::Duration >	save_map_timeout_

double	free_thresh_default_

double	occupied_thresh_default_

bool	map_subscribe_transient_local_

const std::string	save_map_service_name_ {"save_map"}

nav2_util::ServiceServer< nav2_msgs::srv::SaveMap, std::shared_ptr< nav2_util::LifecycleNode > >::SharedPtr	save_map_service_

Protected Attributes inherited from nav2_util::LifecycleNode
std::unique_ptr< rclcpp::PreShutdownCallbackHandle >	rcl_preshutdown_cb_handle_ {nullptr}

std::shared_ptr< bond::Bond >	bond_ {nullptr}

double	bond_heartbeat_period

rclcpp::TimerBase::SharedPtr	autostart_timer_

Detailed Description

A class that provides map saving methods and services.

Definition at line 37 of file map_saver.hpp.

Constructor & Destructor Documentation

◆ MapSaver()

nav2_map_server::MapSaver::MapSaver ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Constructor for the nav2_map_server::MapSaver.

Parameters

options Additional options to control creation of the node.

Definition at line 44 of file map_saver.cpp.

Member Function Documentation

◆ on_activate()

nav2_util::CallbackReturn nav2_map_server::MapSaver::on_activate ( const rclcpp_lifecycle::State & state )

override

Called when node switched to active state.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 85 of file map_saver.cpp.

References nav2_util::LifecycleNode::createBond().

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◆ on_cleanup()

nav2_util::CallbackReturn nav2_map_server::MapSaver::on_cleanup ( const rclcpp_lifecycle::State & state )

override

Called when it is required node clean-up.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 107 of file map_saver.cpp.

◆ on_configure()

nav2_util::CallbackReturn nav2_map_server::MapSaver::on_configure ( const rclcpp_lifecycle::State & state )

override

Sets up map saving service.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 61 of file map_saver.cpp.

References saveMapCallback(), and nav2_util::LifecycleNode::shared_from_this().

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◆ on_deactivate()

nav2_util::CallbackReturn nav2_map_server::MapSaver::on_deactivate ( const rclcpp_lifecycle::State & state )

override

Called when node switched to inactive state.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 96 of file map_saver.cpp.

References nav2_util::LifecycleNode::destroyBond().

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◆ on_shutdown()

nav2_util::CallbackReturn nav2_map_server::MapSaver::on_shutdown ( const rclcpp_lifecycle::State & state )

override

Called when in Shutdown state.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 117 of file map_saver.cpp.

◆ saveMapCallback()

void nav2_map_server::MapSaver::saveMapCallback	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< nav2_msgs::srv::SaveMap::Request >	request,
		std::shared_ptr< nav2_msgs::srv::SaveMap::Response >	response
	)

protected

Map saving service callback.

Parameters

request_header	Service request header
request	Service request
response	Service response

Definition at line 123 of file map_saver.cpp.

Referenced by on_configure().

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◆ saveMapTopicToFile()

bool nav2_map_server::MapSaver::saveMapTopicToFile	(	const std::string &	map_topic,
		const SaveParameters &	save_parameters
	)

Read a message from incoming map topic and save map to a file.

Parameters

map_topic	Incoming map topic name
save_parameters	Map saving parameters.

Returns: true of false

Definition at line 146 of file map_saver.cpp.

The documentation for this class was generated from the following files:

nav2_map_server/include/nav2_map_server/map_saver.hpp
nav2_map_server/src/map_saver/map_saver.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MapSaver()

Member Function Documentation

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ saveMapCallback()

◆ saveMapTopicToFile()