costmap_subscriber.hpp

// Copyright (c) 2019 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_COSTMAP_2D__COSTMAP_SUBSCRIBER_HPP_
#define NAV2_COSTMAP_2D__COSTMAP_SUBSCRIBER_HPP_
 
#include <atomic>
#include <memory>
#include <mutex>
#include <string>
 
 
#include "rclcpp/callback_group.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/node.hpp"
#include "nav2_costmap_2d/costmap_2d.hpp"
#include "nav2_msgs/msg/costmap.hpp"
#include "nav2_msgs/msg/costmap_update.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
namespace nav2_costmap_2d
{
class CostmapSubscriber
{
public:
  CostmapSubscriber(
    const nav2::LifecycleNode::WeakPtr & parent,
    const std::string & topic_name);
 
  template<typename NodeT>
  CostmapSubscriber(
    const NodeT & parent,
    const std::string & topic_name,
    const rclcpp::CallbackGroup::SharedPtr & callback_group = nullptr)
  : topic_name_(topic_name)
  {
    logger_ = parent->get_logger();
 
    // Could be using a user rclcpp::Node, so need to use the Nav2 factory to create the
    // subscription to convert nav2::LifecycleNode, rclcpp::Node or rclcpp_lifecycle::LifecycleNode
    costmap_sub_ = nav2::interfaces::create_subscription<nav2_msgs::msg::Costmap>(
      parent, topic_name_,
      std::bind(&CostmapSubscriber::costmapCallback, this, std::placeholders::_1),
      nav2::qos::LatchedSubscriptionQoS(3), callback_group);
 
    costmap_update_sub_ = nav2::interfaces::create_subscription<nav2_msgs::msg::CostmapUpdate>(
      parent, topic_name_ + "_updates",
      std::bind(&CostmapSubscriber::costmapUpdateCallback, this, std::placeholders::_1),
      nav2::qos::LatchedSubscriptionQoS(), callback_group);
  }
 
  ~CostmapSubscriber() {}
 
  std::shared_ptr<Costmap2D> getCostmap();
  void costmapCallback(const nav2_msgs::msg::Costmap::ConstSharedPtr & msg);
  void costmapUpdateCallback(const nav2_msgs::msg::CostmapUpdate::ConstSharedPtr & update_msg);
 
  std::string getFrameID() const
  {
    return frame_id_;
  }
 
protected:
  bool isCostmapReceived()
  {
    std::lock_guard<std::recursive_mutex> guard(costmap_msg_mutex_);
    return costmap_ != nullptr;
  }
  void processCurrentCostmapMsg();
 
  bool haveCostmapParametersChanged();
  bool hasCostmapSizeChanged();
  bool hasCostmapResolutionChanged();
  bool hasCostmapOriginPositionChanged();
 
  nav2::Subscription<nav2_msgs::msg::Costmap>::SharedPtr costmap_sub_;
  nav2::Subscription<nav2_msgs::msg::CostmapUpdate>::SharedPtr costmap_update_sub_;
 
  std::shared_ptr<Costmap2D> costmap_;
  nav2_msgs::msg::Costmap::ConstSharedPtr costmap_msg_;
 
  std::string topic_name_;
  std::string frame_id_;
  std::recursive_mutex costmap_msg_mutex_;
  rclcpp::Logger logger_{rclcpp::get_logger("nav2_costmap_2d")};
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__COSTMAP_SUBSCRIBER_HPP_