map_server.hpp

// Copyright (c) 2018 Intel Corporation
//
// 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_MAP_SERVER__MAP_SERVER_HPP_
#define NAV2_MAP_SERVER__MAP_SERVER_HPP_
 
#include <memory>
#include <string>
 
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_util/service_server.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "nav_msgs/srv/get_map.hpp"
#include "nav2_msgs/srv/load_map.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/state.hpp"
 
namespace nav2_map_server
{
 
class MapServer : public nav2_util::LifecycleNode
{
public:
  explicit MapServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
  ~MapServer();
 
protected:
  nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
  nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
  bool loadMapResponseFromYaml(
    const std::string & yaml_file,
    std::shared_ptr<nav2_msgs::srv::LoadMap::Response> response);
 
  void updateMsgHeader();
 
  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);
 
  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);
 
  // The name of the service for getting a map
  const std::string service_name_{"map"};
 
  // The name of the service for loading a map
  const std::string load_map_service_name_{"load_map"};
 
  // A service to provide the occupancy grid (GetMap) and the message to return
  nav2_util::ServiceServer<nav_msgs::srv::GetMap,
    std::shared_ptr<nav2_util::LifecycleNode>>::SharedPtr occ_service_;
 
  // A service to load the occupancy grid from file at run time (LoadMap)
  nav2_util::ServiceServer<nav2_msgs::srv::LoadMap,
    std::shared_ptr<nav2_util::LifecycleNode>>::SharedPtr load_map_service_;
 
  // A topic on which the occupancy grid will be published
  rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::OccupancyGrid>::SharedPtr occ_pub_;
 
  // The frame ID used in the returned OccupancyGrid message
  std::string frame_id_;
 
  // The message to publish on the occupancy grid topic
  nav_msgs::msg::OccupancyGrid msg_;
 
  // true if msg_ was initialized
  bool map_available_;
};
 
}  // namespace nav2_map_server
 
#endif  // NAV2_MAP_SERVER__MAP_SERVER_HPP_