OctomapMapsManager.hpp

Go to the documentation of this file.

// 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_OCTOMAP_MAPS_MANAGER__OCTOMAP_MAPS_MANAGER_HPP_
#define EASYNAV_OCTOMAP_MAPS_MANAGER__OCTOMAP_MAPS_MANAGER_HPP_
 
#include <vector>
 
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "octomap_msgs/msg/octomap.hpp"
#include "std_srvs/srv/trigger.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
 
#include "easynav_core/MapsManagerBase.hpp"
#include "octomap/octomap.h"
 
#include "easynav_octomap_maps_manager/filters/OctomapFilter.hpp"
#include "pluginlib/class_loader.hpp"
 
namespace easynav
{
namespace octomap
{

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

  ~OctomapMapsManager();

  virtual void on_initialize() override;

  virtual void update(::easynav::NavState & nav_state) override;
 
protected:
  std::string map_path_;
 
private:
  std::shared_ptr<::octomap::OcTree> octomap_;

  rclcpp::Publisher<octomap_msgs::msg::Octomap>::SharedPtr octomap_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_;

  octomap_msgs::msg::Octomap octomap_msg_;
 
  std::unique_ptr<pluginlib::ClassLoader<OctomapFilter>> octomap_filters_loader_;
 
  std::vector<std::shared_ptr<OctomapFilter>> octomap_filters_;
 
  double resolution_ {1.0};
};
 
}  // namespace octomap
}  // namespace easynav
#endif  // EASYNAV_OCTOMAP_MAPS_MANAGER__OCTOMAP_MAPS_MANAGER_HPP_