GridmapMapsBuilderNode.hpp

Go to the documentation of this file.

// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in sh0rt)
// licensed under the GNU General Public License v3.0.
// See <http://www.gnu.org/licenses/> for details.
//
// Easy Navigation program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.

 
#ifndef EASYNAV_GRIDMAP_MAPS_MANAGER__GRIDMAPMAPSBUILDERNODE_HPP_
#define EASYNAV_GRIDMAP_MAPS_MANAGER__GRIDMAPMAPSBUILDERNODE_HPP_
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "grid_map_msgs/msg/grid_map.hpp"
#include "std_srvs/srv/trigger.hpp"
 
#include "grid_map_ros/grid_map_ros.hpp"
 
#include "easynav_common/types/Perceptions.hpp"
 
namespace easynav
{

class GridmapMapsBuilderNode : public rclcpp_lifecycle::LifecycleNode
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(GridmapMapsBuilderNode)
 
  using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;

  explicit GridmapMapsBuilderNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  ~GridmapMapsBuilderNode();

  CallbackReturnT on_configure(const rclcpp_lifecycle::State & state) override;

  CallbackReturnT on_activate(const rclcpp_lifecycle::State & state) override;

  CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state) override;

  CallbackReturnT on_cleanup(const rclcpp_lifecycle::State & state) override;

  void cycle();

  void register_handler(std::shared_ptr<PerceptionHandler> handler);
 
  const grid_map::GridMap & get_map() const {return map_;}
  void set_map(const grid_map::GridMap & map) {map_ = map;}
 
private:
  std::string sensor_topic_;

  std::map<std::string, std::vector<PerceptionPtr>> perceptions_;

  rclcpp::CallbackGroup::SharedPtr cbg_;

  double downsample_resolution_;

  std::string perception_default_frame_;

  rclcpp_lifecycle::LifecyclePublisher<grid_map_msgs::msg::GridMap>::SharedPtr pub_;

  std::map<std::string, std::shared_ptr<PerceptionHandler>> handlers_;
 
  grid_map::GridMap map_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_GRIDMAP_MAPS_MANAGER__GRIDMAPMAPSBUILDERNODE_HPP_