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GridmapMapsBuilderNode Class Reference

Lifecycle node that subscribes to point cloud sensor data and builds a grid map. More...

#include <GridmapMapsBuilderNode.hpp>

Inheritance diagram for GridmapMapsBuilderNode:
Collaboration diagram for GridmapMapsBuilderNode:

Public Types

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 

Public Member Functions

void cycle ()
 Perform a processing cycle on the perception data and update the grid map.
 
const grid_map::GridMap & get_map () const
 
 GridmapMapsBuilderNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
 Constructor.
 
CallbackReturnT on_activate (const rclcpp_lifecycle::State &state) override
 Lifecycle activate callback.
 
CallbackReturnT on_cleanup (const rclcpp_lifecycle::State &state) override
 Lifecycle cleanup callback.
 
CallbackReturnT on_configure (const rclcpp_lifecycle::State &state) override
 Lifecycle configure callback.
 
CallbackReturnT on_deactivate (const rclcpp_lifecycle::State &state) override
 Lifecycle deactivate callback.
 
void register_handler (std::shared_ptr< PerceptionHandler > handler)
 Registers a perception handler.
 
void set_map (const grid_map::GridMap &map)
 
 ~GridmapMapsBuilderNode ()
 Destructor.
 

Detailed Description

Lifecycle node that subscribes to point cloud sensor data and builds a grid map.

This node processes perception data (point clouds) to generate a single outdoor grid map. It uses ROS 2 lifecycle management for clean startup, activation, deactivation, and cleanup. The node publishes the resulting grid map for downstream use.

Member Typedef Documentation

◆ CallbackReturnT

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Constructor & Destructor Documentation

◆ GridmapMapsBuilderNode()

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

Constructor.

Parameters
optionsOptions for node initialization.

◆ ~GridmapMapsBuilderNode()

Destructor.

Member Function Documentation

◆ cycle()

void cycle ( )

Perform a processing cycle on the perception data and update the grid map.

This method should be called periodically (e.g., in a timer or main loop) to process incoming sensor data, update the internal grid map representation, and publish outputs.

◆ get_map()

const grid_map::GridMap & get_map ( ) const

◆ on_activate()

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

Lifecycle activate callback.

Parameters
stateCurrent lifecycle state.
Returns
CallbackReturnT indicating success or failure.

◆ on_cleanup()

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

Lifecycle cleanup callback.

Parameters
stateCurrent lifecycle state.
Returns
CallbackReturnT indicating success or failure.

◆ on_configure()

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

Lifecycle configure callback.

Parameters
stateCurrent lifecycle state.
Returns
CallbackReturnT indicating success or failure.

◆ on_deactivate()

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

Lifecycle deactivate callback.

Parameters
stateCurrent lifecycle state.
Returns
CallbackReturnT indicating success or failure.

◆ register_handler()

void register_handler ( std::shared_ptr< PerceptionHandler > handler)

Registers a perception handler.

Parameters
handlerShared pointer to a PerceptionHandler instance.

◆ set_map()

void set_map ( const grid_map::GridMap & map)

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