Parses the map yaml file and creates a service and a publisher that provides occupancy grid. More...

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

Inheritance diagram for nav2_map_server::MapServer:

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Public Member Functions
	MapServer (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for nav2_map_server::MapServer. More...

	~MapServer ()
	A Destructor for nav2_map_server::MapServer.

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
nav2_util::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	Sets up required params and services. Loads map and its parameters from the file. More...

nav2_util::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Start publishing the map using the latched topic. More...

nav2_util::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Stops publishing the latched topic. More...

nav2_util::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Resets the member variables. More...

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

bool	loadMapResponseFromYaml (const std::string &yaml_file, std::shared_ptr< nav2_msgs::srv::LoadMap::Response > response)
	Load the map YAML, image from map file name and generate output response containing an OccupancyGrid. Update msg_ class variable. More...

void	updateMsgHeader ()
	Method correcting msg_ header when it belongs to instantiated object.

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)
	Map getting service callback. More...

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)
	Map loading 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
const std::string	service_name_ {"map"}

const std::string	load_map_service_name_ {"load_map"}

nav2_util::ServiceServer< nav_msgs::srv::GetMap, std::shared_ptr< nav2_util::LifecycleNode > >::SharedPtr	occ_service_

nav2_util::ServiceServer< nav2_msgs::srv::LoadMap, std::shared_ptr< nav2_util::LifecycleNode > >::SharedPtr	load_map_service_

rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::OccupancyGrid >::SharedPtr	occ_pub_

std::string	frame_id_

nav_msgs::msg::OccupancyGrid	msg_

bool	map_available_

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

Parses the map yaml file and creates a service and a publisher that provides occupancy grid.

Definition at line 37 of file map_server.hpp.

Constructor & Destructor Documentation

◆ MapServer()

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

explicit

A constructor for nav2_map_server::MapServer.

Parameters

options Additional options to control creation of the node.

Definition at line 65 of file map_server.cpp.

Member Function Documentation

◆ getMapCallback()

void nav2_map_server::MapServer::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
	)

protected

Map getting service callback.

Parameters

request_header	Service request header
request	Service request
response	Service response

Definition at line 184 of file map_server.cpp.

Referenced by on_configure().

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◆ loadMapCallback()

void nav2_map_server::MapServer::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
	)

protected

Map loading service callback.

Parameters

request_header	Service request header
request	Service request
response	Service response

Definition at line 200 of file map_server.cpp.

References loadMapResponseFromYaml().

Referenced by on_configure().

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◆ loadMapResponseFromYaml()

bool nav2_map_server::MapServer::loadMapResponseFromYaml	(	const std::string &	yaml_file,
		std::shared_ptr< nav2_msgs::srv::LoadMap::Response >	response
	)

protected

Load the map YAML, image from map file name and generate output response containing an OccupancyGrid. Update msg_ class variable.

Parameters

yaml_file	name of input YAML file
response	Output response with loaded OccupancyGrid map

Returns: true or false

Definition at line 221 of file map_server.cpp.

References updateMsgHeader().

Referenced by loadMapCallback(), and on_configure().

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◆ on_activate()

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

overrideprotected

Start publishing the map using the latched topic.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 133 of file map_server.cpp.

References nav2_util::LifecycleNode::createBond().

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◆ on_cleanup()

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

overrideprotected

Resets the member variables.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 164 of file map_server.cpp.

◆ on_configure()

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

overrideprotected

Sets up required params and services. Loads map and its parameters from the file.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 81 of file map_server.cpp.

References getMapCallback(), loadMapCallback(), loadMapResponseFromYaml(), and nav2_util::LifecycleNode::shared_from_this().

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◆ on_deactivate()

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

overrideprotected

Stops publishing the latched topic.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 151 of file map_server.cpp.

References nav2_util::LifecycleNode::destroyBond().

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◆ on_shutdown()

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

overrideprotected

Called when in Shutdown state.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 178 of file map_server.cpp.

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

nav2_map_server/include/nav2_map_server/map_server.hpp
nav2_map_server/src/map_server/map_server.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MapServer()

Member Function Documentation

◆ getMapCallback()

◆ loadMapCallback()

◆ loadMapResponseFromYaml()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()