Vector Object server node. More...

#include <nav2_map_server/include/nav2_map_server/vector_object_server.hpp>

Inheritance diagram for nav2_map_server::VectorObjectServer:

Collaboration diagram for nav2_map_server::VectorObjectServer:

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Public Member Functions
	VectorObjectServer (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor for the VectorObjectServer. 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
nav2::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	: Initializes TF buffer/listener, obtains ROS-parameters, creates incoming services, and output map publisher More...

nav2::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	: Activates output map publisher and creates bond connection More...

nav2::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	: Deactivates map publisher and timer (if any), destroys bond connection More...

nav2::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	: Resets all services, publishers, map and TF-s More...

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

bool	obtainParams ()
	Supporting routine obtaining all ROS-parameters. More...

std::vector< std::shared_ptr< Shape > >::iterator	findShape (const unsigned char *uuid)
	Finds the shape with given UUID. More...

bool	transformVectorObjects ()
	Transform all vector shapes from their local frame to output map frame. More...

void	getMapBoundaries (double &min_x, double &min_y, double &max_x, double &max_y) const
	Obtains map boundaries to place all vector objects inside. More...

void	updateMap (const double &min_x, const double &min_y, const double &max_x, const double &max_y)
	Creates or updates existing map with required sizes and fills it with default value. More...

void	putVectorObjectsOnMap ()
	Processes all vector objects on raster output map.

void	publishMap ()
	Publishes output map.

void	processMap ()
	Calculates new map sizes, updates map, processes all vector objects on it and publishes output map one time.

void	switchMapUpdate ()
	If map to be update dynamically, creates map processing timer, otherwise process map once.

void	addShapesCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< nav2_msgs::srv::AddShapes::Request > request, std::shared_ptr< nav2_msgs::srv::AddShapes::Response > response)
	Callback for AddShapes service call. Reads all input vector objects from service request, creates them or updates their shape in case of existing objects and switches map processing/publishing routine. More...

void	getShapesCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< nav2_msgs::srv::GetShapes::Request > request, std::shared_ptr< nav2_msgs::srv::GetShapes::Response > response)
	Callback for GetShapes service call. Gets all shapes and returns them to the service response. More...

void	removeShapesCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< nav2_msgs::srv::RemoveShapes::Request > request, std::shared_ptr< nav2_msgs::srv::RemoveShapes::Response > response)
	Callback for RemoveShapes service call. Try to remove requested vector objects and switches map processing/publishing routine. 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< tf2_ros::Buffer >	tf_buffer_
	TF buffer.

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_
	TF listener.

std::vector< std::shared_ptr< Shape > >	shapes_
	All shapes vector.

double	resolution_
	Output map resolution.

int8_t	default_value_
	Default value the output map to be filled with.

OverlayType	overlay_type_
	@Overlay Type of overlay of vector objects on the map

nav_msgs::msg::OccupancyGrid::SharedPtr	map_
	Output map with vector objects on it.

double	process_map_
	Whether to process and publish map.

std::string	global_frame_id_
	Frame of output map.

double	transform_tolerance_
	Transform tolerance.

double	update_frequency_
	Frequency to dynamically update/publish the map (if necessary)

rclcpp::TimerBase::SharedPtr	map_timer_
	Map update timer.

nav2::ServiceServer< nav2_msgs::srv::AddShapes >::SharedPtr	add_shapes_service_
	AddShapes service.

nav2::ServiceServer< nav2_msgs::srv::GetShapes >::SharedPtr	get_shapes_service_
	GetShapes service.

nav2::ServiceServer< nav2_msgs::srv::RemoveShapes >::SharedPtr	remove_shapes_service_
	RemoveShapes service.

std::string	map_topic_
	@beirf Topic name where the output map to be published to

nav2::Publisher< nav_msgs::msg::OccupancyGrid >::SharedPtr	map_pub_
	Output map publisher.

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

Vector Object server node.

Definition at line 40 of file vector_object_server.hpp.

Constructor & Destructor Documentation

◆ VectorObjectServer()

nav2_map_server::VectorObjectServer::VectorObjectServer ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Constructor for the VectorObjectServer.

Parameters

options Additional options to control creation of the node.

Definition at line 36 of file vector_object_server.cpp.

Member Function Documentation

◆ addShapesCallback()

void nav2_map_server::VectorObjectServer::addShapesCallback	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< nav2_msgs::srv::AddShapes::Request >	request,
		std::shared_ptr< nav2_msgs::srv::AddShapes::Response >	response
	)

protected

Callback for AddShapes service call. Reads all input vector objects from service request, creates them or updates their shape in case of existing objects and switches map processing/publishing routine.

Parameters

request_header	Service request header
request	Service request
response	Service response

Definition at line 385 of file vector_object_server.cpp.

References findShape(), shapes_, nav2::LifecycleNode::shared_from_this(), and switchMapUpdate().

Referenced by on_configure().

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◆ findShape()

std::vector< std::shared_ptr< Shape > >::iterator nav2_map_server::VectorObjectServer::findShape ( const unsigned char * uuid )

protected

Finds the shape with given UUID.

Parameters

uuid	Given UUID to search with

Returns: Iterator to the shape, if found. Otherwise past-the-end iterator.

Definition at line 192 of file vector_object_server.cpp.

References shapes_.

Referenced by addShapesCallback(), and removeShapesCallback().

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◆ getMapBoundaries()

void nav2_map_server::VectorObjectServer::getMapBoundaries	(	double &	min_x,
		double &	min_y,
		double &	max_x,
		double &	max_y
	)		const

protected

Obtains map boundaries to place all vector objects inside.

Parameters

min_x	output min X-boundary of required map
min_y	output min Y-boundary of required map
max_x	output max X-boundary of required map
max_y	output max Y-boundary of required map

Exceptions

std::exception if can not obtain one of the map boundaries

Definition at line 219 of file vector_object_server.cpp.

References shapes_.

Referenced by processMap().

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◆ getShapesCallback()

void nav2_map_server::VectorObjectServer::getShapesCallback	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< nav2_msgs::srv::GetShapes::Request >	request,
		std::shared_ptr< nav2_msgs::srv::GetShapes::Response >	response
	)

protected

Callback for GetShapes service call. Gets all shapes and returns them to the service response.

Parameters

request_header	Service request header
request	Service request
response	Service response

Definition at line 493 of file vector_object_server.cpp.

References shapes_.

Referenced by on_configure().

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◆ obtainParams()

bool nav2_map_server::VectorObjectServer::obtainParams ( )

protected

Supporting routine obtaining all ROS-parameters.

Returns: True if all parameters were obtained or false in the failure case

Definition at line 140 of file vector_object_server.cpp.

References default_value_, global_frame_id_, map_topic_, overlay_type_, resolution_, and nav2::LifecycleNode::shared_from_this().

Referenced by on_configure().

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◆ on_activate()

nav2::CallbackReturn nav2_map_server::VectorObjectServer::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

: Activates output map publisher and creates bond connection

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 78 of file vector_object_server.cpp.

References nav2::LifecycleNode::createBond(), map_pub_, process_map_, and switchMapUpdate().

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◆ on_cleanup()

nav2::CallbackReturn nav2_map_server::VectorObjectServer::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

: Resets all services, publishers, map and TF-s

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 114 of file vector_object_server.cpp.

References add_shapes_service_, get_shapes_service_, map_, map_pub_, remove_shapes_service_, shapes_, tf_buffer_, and tf_listener_.

◆ on_configure()

nav2::CallbackReturn nav2_map_server::VectorObjectServer::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

: Initializes TF buffer/listener, obtains ROS-parameters, creates incoming services, and output map publisher

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 41 of file vector_object_server.cpp.

References add_shapes_service_, addShapesCallback(), get_shapes_service_, getShapesCallback(), map_pub_, map_topic_, obtainParams(), remove_shapes_service_, removeShapesCallback(), tf_buffer_, and tf_listener_.

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◆ on_deactivate()

nav2::CallbackReturn nav2_map_server::VectorObjectServer::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

: Deactivates map publisher and timer (if any), destroys bond connection

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 95 of file vector_object_server.cpp.

References nav2::LifecycleNode::destroyBond(), map_pub_, map_timer_, and process_map_.

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◆ on_shutdown()

nav2::CallbackReturn nav2_map_server::VectorObjectServer::on_shutdown ( const rclcpp_lifecycle::State & state )

overrideprotected

Called in shutdown state.

Parameters

state Lifecycle Node's state

Returns: Success or Failure

Definition at line 134 of file vector_object_server.cpp.

◆ removeShapesCallback()

void nav2_map_server::VectorObjectServer::removeShapesCallback	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< nav2_msgs::srv::RemoveShapes::Request >	request,
		std::shared_ptr< nav2_msgs::srv::RemoveShapes::Response >	response
	)

protected

Callback for RemoveShapes service call. Try to remove requested vector objects and switches map processing/publishing routine.

Parameters

request_header	Service request header
request	Service request
response	Service response

Definition at line 517 of file vector_object_server.cpp.

References findShape(), shapes_, and switchMapUpdate().

Referenced by on_configure().

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◆ transformVectorObjects()

bool nav2_map_server::VectorObjectServer::transformVectorObjects ( )

protected

Transform all vector shapes from their local frame to output map frame.

Returns: Whether all vector objects were transformed successfully

Definition at line 202 of file vector_object_server.cpp.

References global_frame_id_, shapes_, tf_buffer_, and transform_tolerance_.

Referenced by processMap().

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◆ updateMap()

void nav2_map_server::VectorObjectServer::updateMap	(	const double &	min_x,
		const double &	min_y,
		const double &	max_x,
		const double &	max_y
	)

protected

Creates or updates existing map with required sizes and fills it with default value.

Parameters

min_x	min X-boundary of new map
min_y	min Y-boundary of new map
max_x	max X-boundary of new map
max_y	max Y-boundary of new map

Exceptions

std::exception if map has negative X or Y size

Definition at line 246 of file vector_object_server.cpp.

References default_value_, global_frame_id_, map_, and resolution_.

Referenced by processMap().

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The documentation for this class was generated from the following files:

nav2_map_server/include/nav2_map_server/vector_object_server.hpp
nav2_map_server/src/vo_server/vector_object_server.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VectorObjectServer()

Member Function Documentation

◆ addShapesCallback()

◆ findShape()

◆ getMapBoundaries()

◆ getShapesCallback()

◆ obtainParams()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ removeShapesCallback()

◆ transformVectorObjects()

◆ updateMap()