navigation_manager_node.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__NAVIGATION_MANAGER_NODE_HPP_
#define EASYFLEET_NAVIGATION_MANAGER__NAVIGATION_MANAGER_NODE_HPP_
 
#include <map>
#include <memory>
#include <set>
#include <string>
#include <vector>
 
#include "easyfleet_interfaces/msg/capability_status.hpp"
#include "easyfleet_navigation_manager/conflict_detector.hpp"
#include "easyfleet_navigation_manager/map_publisher_base.hpp"
#include "easyfleet_navigation_manager/robot_navigation_watcher.hpp"
#include "easyfleet_navigation_manager/routes_publisher.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tf2_ros/static_transform_broadcaster.hpp"
 
namespace easyfleet
{

class NavigationManagerNode : public rclcpp::Node
{
public:
  explicit NavigationManagerNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  [[nodiscard]] std::vector<std::string> get_watched_robots() const;
 
private:
  void reconcile_watchers();

  void check_conflicts();

  void publish_robot_map_tf(const std::string & robot_id);
 
  std::unique_ptr<MapPublisherBase> map_publisher_;
  RoutesPublisher routes_publisher_;
 
  std::string planner_plugin_key_;
  ConflictParams conflict_params_;
  std::vector<std::unique_ptr<RobotNavigationWatcher>> watchers_;
  std::set<std::string> currently_paused_;
 
  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> map_tf_broadcaster_;

  rclcpp::Subscription<easyfleet_interfaces::msg::CapabilityStatus>::SharedPtr
    capabilities_status_sub_;
  std::map<std::string, rclcpp::Time> last_heartbeat_by_robot_;
  double robot_staleness_sec_ {5.0};
 
  rclcpp::TimerBase::SharedPtr reconcile_timer_;
  rclcpp::TimerBase::SharedPtr conflict_timer_;
};
 
}  // namespace easyfleet
 
#endif  // EASYFLEET_NAVIGATION_MANAGER__NAVIGATION_MANAGER_NODE_HPP_