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:

Collaboration 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::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
nav2::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::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	Start publishing the map using the latched topic. More...

nav2::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	Stops publishing the latched topic. More...

nav2::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	Resets the member variables. More...

nav2::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::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::ServiceServer< nav_msgs::srv::GetMap >::SharedPtr	occ_service_

nav2::ServiceServer< nav2_msgs::srv::LoadMap >::SharedPtr	load_map_service_

nav2::Publisher< nav_msgs::msg::OccupancyGrid >::SharedPtr	occ_pub_

std::string	frame_id_

nav_msgs::msg::OccupancyGrid	msg_

bool	map_available_

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

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 180 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 196 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 217 of file map_server.cpp.

References updateMsgHeader().

Referenced by loadMapCallback(), and on_configure().

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◆ on_activate()

nav2::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 129 of file map_server.cpp.

References nav2::LifecycleNode::createBond().

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◆ on_cleanup()

nav2::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 160 of file map_server.cpp.

◆ on_configure()

nav2::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(), and loadMapResponseFromYaml().

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◆ on_deactivate()

nav2::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 147 of file map_server.cpp.

References nav2::LifecycleNode::destroyBond().

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◆ on_shutdown()

nav2::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 174 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

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MapServer()

Member Function Documentation

◆ getMapCallback()

◆ loadMapCallback()

◆ loadMapResponseFromYaml()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()