BonxaiMapsManager.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

 
#ifndef EASYNAV_BONXAI_MAPS_MANAGER__BONXAI_MAPS_MANAGER_HPP_
#define EASYNAV_BONXAI_MAPS_MANAGER__BONXAI_MAPS_MANAGER_HPP_
 
#include "bonxai/probabilistic_map.hpp"
 
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "std_srvs/srv/trigger.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
 
#include "easynav_core/MapsManagerBase.hpp"
 
namespace easynav_bonxai
{
 

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

  ~BonxaiMapsManager();

  virtual void on_initialize() override;

  virtual void update(::easynav::NavState & nav_state) override;
 
protected:
  std::string map_path_;
 
private:
  std::shared_ptr<Bonxai::ProbabilisticMap> bonxai_map_;

  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr bonxai_pub_;

  rclcpp::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr incoming_occ_map_sub_;

  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr incoming_pc2_map_sub_;

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

  sensor_msgs::msg::PointCloud2 bonxai_msg_;
 
  void update_from_pc2(const sensor_msgs::msg::PointCloud2 & pc2);
  void update_from_occ(const nav_msgs::msg::OccupancyGrid & occ);
  void publish_map();
 
  double resolution_ {0.3};
  double height_with_occ_ {1.0};
};
 
}  // namespace easynav_bonxai
#endif  // EASYNAV_BONXAI_MAPS_MANAGER__BONXAI_MAPS_MANAGER_HPP_