graph_loader.hpp

// Copyright (c) 2025 Open Navigation LLC
//
// 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_ROUTE__GRAPH_LOADER_HPP_
#define NAV2_ROUTE__GRAPH_LOADER_HPP_
 
#include <string>
#include <memory>
#include <vector>
#include <unordered_map>
#include <nlohmann/json.hpp>
#include <pluginlib/class_loader.hpp>
 
#include "nav2_util/lifecycle_node.hpp"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
#include "nav2_util/node_utils.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_route/types.hpp"
#include "nav2_route/interfaces/graph_file_loader.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 
namespace nav2_route
{
 
class GraphLoader
{
public:
  explicit GraphLoader(
    nav2_util::LifecycleNode::SharedPtr node,
    std::shared_ptr<tf2_ros::Buffer> tf,
    const std::string frame);
 
  ~GraphLoader() = default;
 
  bool loadGraphFromFile(
    Graph & graph,
    GraphToIDMap & idx_map,
    const std::string & filepath);
 
  bool loadGraphFromParameter(
    Graph & graph,
    GraphToIDMap & idx_map);
 
  bool transformGraph(Graph & graph);
 
protected:
  std::string route_frame_, graph_filepath_;
  std::shared_ptr<tf2_ros::Buffer> tf_;
  rclcpp::Logger logger_{rclcpp::get_logger("GraphLoader")};
 
  // Graph Parser
  pluginlib::ClassLoader<GraphFileLoader> plugin_loader_;
  GraphFileLoader::Ptr graph_file_loader_;
  std::string default_plugin_id_;
  std::string plugin_type_;
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__GRAPH_LOADER_HPP_