map_saver.hpp

// Copyright (c) 2020 Samsung Research Russia
// 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_SAVER_HPP_
#define NAV2_MAP_SERVER__MAP_SAVER_HPP_
 
#include <memory>
#include <string>
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_msgs/srv/save_map.hpp"
#include "nav2_ros_common/service_server.hpp"
 
#include "map_io.hpp"
 
namespace nav2_map_server
{
 
class MapSaver : public nav2::LifecycleNode
{
public:
  explicit MapSaver(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
  ~MapSaver();
 
  bool saveMapTopicToFile(
    const std::string & map_topic,
    const SaveParameters & save_parameters);
 
  nav2::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
  nav2::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
  nav2::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
  nav2::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
  nav2::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
protected:
  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);
 
  // The timeout for saving the map in service
  std::shared_ptr<rclcpp::Duration> save_map_timeout_;
  // Default values for map thresholds
  double free_thresh_default_;
  double occupied_thresh_default_;
  // param for handling QoS configuration
  bool map_subscribe_transient_local_;
 
  // The name of the service for saving a map from topic
  const std::string save_map_service_name_{"save_map"};
  // A service to save the map to a file at run time (SaveMap)
  nav2::ServiceServer<nav2_msgs::srv::SaveMap>::SharedPtr save_map_service_;
};
 
}  // namespace nav2_map_server
 
#endif  // NAV2_MAP_SERVER__MAP_SAVER_HPP_