costmap.hpp

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// Copyright (c) 2025 Angsa Robotics
// Copyright (c) 2025 lotusymt
//
// 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_COLLISION_MONITOR__COSTMAP_HPP_
#define NAV2_COLLISION_MONITOR__COSTMAP_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "nav2_collision_monitor/source.hpp"
#include "nav2_msgs/msg/costmap.hpp"
#include <nav2_ros_common/lifecycle_node.hpp>
#include <nav2_ros_common/subscription.hpp>
#include "nav2_ros_common/tf2_factories.hpp"
 
namespace nav2_collision_monitor
{
 
class CostmapSource : public Source
{
public:
  CostmapSource(
    const nav2::LifecycleNode::WeakPtr & node,
    const std::string & source_name,
    const nav2::TransformBuffer::SharedPtr tf_buffer,
    const std::string & base_frame_id,
    const std::string & global_frame_id,
    const tf2::Duration & transform_tolerance,
    const rclcpp::Duration & source_timeout,
    const bool base_shift_correction);
 
  ~CostmapSource();
 
  bool configure();
 
  bool getSourceData(
    const rclcpp::Time & curr_time,
    std::vector<Point> & data) override;
 
  void getParameters(std::string & source_topic);
 
  bool hasData() const {return data_ != nullptr;}
 
private:
  void dataCallback(nav2_msgs::msg::Costmap::ConstSharedPtr msg);
 
  nav2_msgs::msg::Costmap::ConstSharedPtr data_;
 
  nav2::Subscription<nav2_msgs::msg::Costmap>::SharedPtr data_sub_;
 
  int cost_threshold_{253};
 
  bool treat_unknown_as_obstacle_{true};
};
 
}  // namespace nav2_collision_monitor
 
#endif  // NAV2_COLLISION_MONITOR__COSTMAP_HPP_