A plugin-based map manager using the SimpleMap data structure. More...

#include <CostmapMapsManager.hpp>

Inheritance diagram for CostmapMapsManager:

Collaboration diagram for CostmapMapsManager:

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Public Member Functions
	CostmapMapsManager ()
	Default constructor.

virtual std::expected< void, std::string >	on_initialize () override
	Initializes the maps manager.

void	set_static_map (const Costmap2D &new_map)
	Replaces the current static map.

virtual void	update (NavState &nav_state) override
	Updates the internal maps using the current navigation state.

	~CostmapMapsManager ()
	Destructor.

Protected Attributes
std::string	map_path_
	Full path to the map file.

Detailed Description

A plugin-based map manager using the SimpleMap data structure.

This manager implements a minimal mapping approach using boolean grid maps (SimpleMap) for both static and dynamic maps. It supports publishing and receiving ROS occupancy grids.

Constructor & Destructor Documentation

◆ CostmapMapsManager()

CostmapMapsManager ( )

Default constructor.

◆ ~CostmapMapsManager()

~CostmapMapsManager ( )

Destructor.

Member Function Documentation

◆ on_initialize()

std::expected< void, std::string > on_initialize ( )

overridevirtual

Initializes the maps manager.

Creates necessary publishers/subscribers and initializes the map instances.

Returns: std::expected<void, std::string> Success or error string.

◆ set_static_map()

void set_static_map ( const Costmap2D & new_map )

Replaces the current static map.

Parameters

new_map Shared pointer to a new map object. Must be of type SimpleMap.

◆ update()

void update ( NavState & nav_state )

overridevirtual

Updates the internal maps using the current navigation state.

Intended to be called periodically. May perform dynamic map updates based on new sensor data or internal state.

Parameters

nav_state Current state of the navigation system.

Member Data Documentation

◆ map_path_

std::string map_path_

protected

Full path to the map file.

The documentation for this class was generated from the following files:

easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/CostmapMapsManager.hpp
easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/CostmapMapsManager.cpp

Public Member Functions

Protected Attributes