23#ifndef EASYNAV_MAPSMANAGER__MAPSMANAGERNODE_HPP_
24#define EASYNAV_MAPSMANAGER__MAPSMANAGERNODE_HPP_
26#include "rclcpp/macros.hpp"
27#include "rclcpp_lifecycle/lifecycle_node.hpp"
29#include "easynav_core/MapsManagerBase.hpp"
30#include "pluginlib/class_loader.hpp"
45 using
CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
53 const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
108 std::unique_ptr<pluginlib::ClassLoader<MapsManagerBase>> maps_manager_loader_;
111 std::vector<
std::shared_ptr<MapsManagerBase>> maps_managers_;
MapsManagerNode(const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
Constructor.
Definition MapsManagerNode.cpp:39
CallbackReturnT on_activate(const rclcpp_lifecycle::State &state)
Activate the node.
Definition MapsManagerNode.cpp:115
CallbackReturnT on_configure(const rclcpp_lifecycle::State &state)
Configure the node.
Definition MapsManagerNode.cpp:72
void cycle(std::shared_ptr< NavState > nav_state)
Execute one update cycle (non real-time).
Definition MapsManagerNode.cpp:152
CallbackReturnT on_shutdown(const rclcpp_lifecycle::State &state)
Shutdown the node.
Definition MapsManagerNode.cpp:138
CallbackReturnT on_cleanup(const rclcpp_lifecycle::State &state)
Cleanup the node.
Definition MapsManagerNode.cpp:131
CallbackReturnT on_error(const rclcpp_lifecycle::State &state)
Handle errors during lifecycle transitions.
Definition MapsManagerNode.cpp:145
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn CallbackReturnT
Definition MapsManagerNode.hpp:45
CallbackReturnT on_deactivate(const rclcpp_lifecycle::State &state)
Deactivate the node.
Definition MapsManagerNode.cpp:123
A generic, type-safe, lock-free blackboard to hold runtime state.
Definition NavState.hpp:62
Definition RTTFBuffer.hpp:30
Definition PointPerception.hpp:56