23#ifndef EASYNAV_PLANNER__SIMPLEMAPMANAGER_HPP_
24#define EASYNAV_PLANNER__SIMPLEMAPMANAGER_HPP_
33#include "nav_msgs/msg/occupancy_grid.hpp"
34#include "std_srvs/srv/trigger.hpp"
36#include "tf2_ros/buffer.h"
37#include "tf2_ros/transform_listener.h"
39#include "easynav_core/MapsManagerBase.hpp"
43#include "pluginlib/class_loader.hpp"
45#include "yaets/tracing.hpp"
78 virtual std::expected<void, std::string>
on_initialize()
override;
88 virtual void update(NavState & nav_state)
override;
112 rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr static_occ_pub_;
117 rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr dynamic_occ_pub_;
122 rclcpp::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr incoming_map_sub_;
127 rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr savemap_srv_;
132 nav_msgs::msg::OccupancyGrid static_grid_msg_;
137 nav_msgs::msg::OccupancyGrid dynamic_grid_msg_;
139 std::unique_ptr<pluginlib::ClassLoader<CostmapFilter>> costmap_filters_loader_;
141 std::vector<std::shared_ptr<CostmapFilter>> costmap_filters_;
A 2D costmap provides a mapping between points in the world and their associated "costs".
Definition costmap_2d.hpp:69
virtual void update(NavState &nav_state) override
Updates the internal maps using the current navigation state.
Definition CostmapMapsManager.cpp:184
CostmapMapsManager()
Default constructor.
Definition CostmapMapsManager.cpp:41
void set_static_map(const Costmap2D &new_map)
Replaces the current static map.
Definition CostmapMapsManager.cpp:177
~CostmapMapsManager()
Destructor.
Definition CostmapMapsManager.cpp:55
virtual std::expected< void, std::string > on_initialize() override
Initializes the maps manager.
Definition CostmapMapsManager.cpp:58
std::string map_path_
Full path to the map file.
Definition CostmapMapsManager.hpp:101
Provides a mapping for often used cost values.
Definition cost_values.hpp:41