CostmapMapsManager.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_PLANNER__SIMPLEMAPMANAGER_HPP_
#define EASYNAV_PLANNER__SIMPLEMAPMANAGER_HPP_
 
#include <vector>
 
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "std_srvs/srv/trigger.hpp"
 
#include "easynav_core/MapsManagerBase.hpp"
#include "easynav_costmap_common/costmap_2d.hpp"
 
#include "easynav_costmap_maps_manager/filters/CostmapFilter.hpp"
#include "pluginlib/class_loader.hpp"
 
namespace easynav
{

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

  ~CostmapMapsManager();

  virtual void on_initialize() override;

  virtual void update(NavState & nav_state) override;

  void set_static_map(const Costmap2D & new_map);
 
protected:
  std::string map_path_;
 
private:
  Costmap2D static_map_;

  std::shared_ptr<Costmap2D> dynamic_map_;

  rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr static_occ_pub_;

  rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr dynamic_occ_pub_;

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

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

  nav_msgs::msg::OccupancyGrid static_grid_msg_;

  nav_msgs::msg::OccupancyGrid dynamic_grid_msg_;
 
  std::unique_ptr<pluginlib::ClassLoader<CostmapFilter>> costmap_filters_loader_;
 
  std::vector<std::shared_ptr<CostmapFilter>> costmap_filters_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_PLANNER__SIMPLEMAPMANAGER_HPP_