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

nav2::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Called when node switched to active state. More...

nav2::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Called when node switched to inactive state. More...

nav2::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Called when it is required node clean-up. More...

nav2::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	Called when in Shutdown state. More...

Public Member Functions inherited from nav2::LifecycleNode
	LifecycleNode (const std::string &node_name, const std::string &ns, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor. More...

	LifecycleNode (const std::string &node_name, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor with no namespace. More...

template<typename ParamType >
ParamType	declare_or_get_parameter (const std::string &parameter_name, const ParamType &default_value, const ParameterDescriptor &parameter_descriptor=ParameterDescriptor())
	Declares or gets a parameter. If the parameter is already declared, returns its value; otherwise declares it and returns the default value. More...

template<typename MessageT , typename CallbackT >
nav2::Subscription< MessageT >::SharedPtr	create_subscription (const std::string &topic_name, CallbackT &&callback, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS(), const rclcpp::CallbackGroup::SharedPtr &callback_group=nullptr)
	Create a subscription to a topic using Nav2 QoS profiles and SubscriptionOptions. More...

template<typename MessageT >
nav2::Publisher< MessageT >::SharedPtr	create_publisher (const std::string &topic_name, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS(), const rclcpp::CallbackGroup::SharedPtr &callback_group=nullptr)
	Create a publisher to a topic using Nav2 QoS profiles and PublisherOptions. More...

template<typename ServiceT >
nav2::ServiceClient< ServiceT >::SharedPtr	create_client (const std::string &service_name, bool use_internal_executor=false)
	Create a ServiceClient to interface with a service. More...

template<typename ServiceT >
nav2::ServiceServer< ServiceT >::SharedPtr	create_service (const std::string &service_name, typename nav2::ServiceServer< ServiceT >::CallbackType cb, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Create a ServiceServer to host with a service. More...

template<typename ActionT >
nav2::SimpleActionServer< ActionT >::SharedPtr	create_action_server (const std::string &action_name, typename nav2::SimpleActionServer< ActionT >::ExecuteCallback execute_callback, typename nav2::SimpleActionServer< ActionT >::CompletionCallback compl_cb=nullptr, std::chrono::milliseconds server_timeout=std::chrono::milliseconds(500), bool spin_thread=false, const bool realtime=false)
	Create a SimpleActionServer to host with an action. More...

template<typename ActionT >
nav2::ActionClient< ActionT >::SharedPtr	create_action_client (const std::string &action_name, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Create a ActionClient to call an action using. More...

nav2::LifecycleNode::SharedPtr	shared_from_this ()
	Get a shared pointer of this.

nav2::LifecycleNode::WeakPtr	weak_from_this ()
	Get a shared pointer of this.

nav2::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::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::ServiceServer< nav2_msgs::srv::SaveMap >::SharedPtr	save_map_service_

Protected Attributes inherited from nav2::LifecycleNode
std::unique_ptr< rclcpp::PreShutdownCallbackHandle >	rcl_preshutdown_cb_handle_ {nullptr}

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

double	bond_heartbeat_period {0.1}

rclcpp::TimerBase::SharedPtr	autostart_timer_

Additional Inherited Members
Public Types inherited from nav2::LifecycleNode
using	SharedPtr = std::shared_ptr< nav2::LifecycleNode >

using	WeakPtr = std::weak_ptr< nav2::LifecycleNode >

using	SharedConstPointer = std::shared_ptr< const nav2::LifecycleNode >

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::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 83 of file map_saver.cpp.

References nav2::LifecycleNode::createBond().

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◆ on_cleanup()

nav2::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 105 of file map_saver.cpp.

◆ on_configure()

nav2::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().

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◆ on_deactivate()

nav2::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 94 of file map_saver.cpp.

References nav2::LifecycleNode::destroyBond().

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◆ on_shutdown()

nav2::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 115 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 121 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 144 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

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MapSaver()

Member Function Documentation

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ saveMapCallback()

◆ saveMapTopicToFile()