vector_object_server.hpp

// Copyright (c) 2023 Samsung R&D Institute Russia
//
// 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__VECTOR_OBJECT_SERVER_HPP_
#define NAV2_MAP_SERVER__VECTOR_OBJECT_SERVER_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
 
#include "tf2_ros/buffer.hpp"
#include "tf2_ros/transform_listener.hpp"
 
#include "nav2_msgs/srv/add_shapes.hpp"
#include "nav2_msgs/srv/remove_shapes.hpp"
#include "nav2_msgs/srv/get_shapes.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
#include "nav2_map_server/vector_object_utils.hpp"
#include "nav2_map_server/vector_object_shapes.hpp"
 
namespace nav2_map_server
{
 
class VectorObjectServer : public nav2::LifecycleNode
{
public:
  explicit VectorObjectServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
protected:
  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;
 
  bool obtainParams();
 
  std::vector<std::shared_ptr<Shape>>::iterator findShape(const unsigned char * uuid);
 
  bool transformVectorObjects();
 
  void getMapBoundaries(double & min_x, double & min_y, double & max_x, double & max_y) const;
 
  void updateMap(
    const double & min_x, const double & min_y, const double & max_x, const double & max_y);
 
  void putVectorObjectsOnMap();
 
  void publishMap();
 
  void processMap();
 
  void switchMapUpdate();
 
  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);
 
  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);
 
  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);
 
protected:
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
 
  std::vector<std::shared_ptr<Shape>> shapes_;
 
  double resolution_;
  int8_t default_value_;
  OverlayType overlay_type_;
 
  nav_msgs::msg::OccupancyGrid::SharedPtr map_;
  double process_map_;
 
  std::string global_frame_id_;
  double transform_tolerance_;
 
  double update_frequency_;
  rclcpp::TimerBase::SharedPtr map_timer_;
 
  nav2::ServiceServer<nav2_msgs::srv::AddShapes>::SharedPtr add_shapes_service_;
  nav2::ServiceServer<nav2_msgs::srv::GetShapes>::SharedPtr get_shapes_service_;
  nav2::ServiceServer<nav2_msgs::srv::RemoveShapes>::SharedPtr remove_shapes_service_;
 
  std::string map_topic_;
  nav2::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr map_pub_;
};
 
}  // namespace nav2_map_server
 
#endif  // NAV2_MAP_SERVER__VECTOR_OBJECT_SERVER_HPP_