GridmapMapsManager.hpp

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// 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__GRIDMAPMAPSMANAGER_HPP_
#define EASYNAV_GRIDMAP_MAPS_MANAGER__GRIDMAPMAPSMANAGER_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_core/MapsManagerBase.hpp"
 
#include "yaets/tracing.hpp"
 
namespace easynav
{
 

class GridmapMapsManager : public easynav::MapsManagerBase
{
public:
  GridmapMapsManager();

  ~GridmapMapsManager();

  virtual std::expected<void, std::string> on_initialize() override;

  virtual void update(NavState & nav_state) override;
 
protected:
  std::string map_path_;
 
private:
  grid_map::GridMap map_;

  rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr gridmap_pub_;

  rclcpp::Subscription<grid_map_msgs::msg::GridMap>::SharedPtr incoming_map_sub_;

  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr savemap_srv_;

  grid_map_msgs::msg::GridMap gridmap_msg_;
 
  bool map_need_update_ {false};
};
 
}  // namespace easynav
 
#endif  // EASYNAV_GRIDMAP_MAPS_MANAGER__GRIDMAPMAPSBUILDERNODE_HPP_