costmap_map_publisher.hpp

// Copyright 2026 Intelligent Robotics Lab
//
// This file is part of the project EasyFleet
// 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 EASYFLEET_NAVIGATION_MANAGER__COSTMAP_MAP_PUBLISHER_HPP_
#define EASYFLEET_NAVIGATION_MANAGER__COSTMAP_MAP_PUBLISHER_HPP_
 
#include "easyfleet_navigation_manager/map_publisher_base.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
 
namespace easyfleet
{

class CostmapMapPublisher : public MapPublisherBase
{
public:
  void publish(rclcpp::Node & node) override;
 
private:
  rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr pub_;
};
 
}  // namespace easyfleet
 
#endif  // EASYFLEET_NAVIGATION_MANAGER__COSTMAP_MAP_PUBLISHER_HPP_