SimpleMapsManager.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 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_PLANNER__SIMPLEMAPMANAGER_HPP_
#define EASYNAV_PLANNER__SIMPLEMAPMANAGER_HPP_
 
#include <vector>
#include <stdexcept>
#include <algorithm>
#include <utility>
#include <fstream>
#include <sstream>
 
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "std_srvs/srv/trigger.hpp"
 
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
 
#include "easynav_core/MapsManagerBase.hpp"
#include "easynav_simple_common/SimpleMap.hpp"
 
#include "yaets/tracing.hpp"
 
namespace easynav
{

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

  ~SimpleMapsManager();

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

  virtual void update(NavState & nav_state) override;

  void set_static_map(const SimpleMap & new_map);

  void set_dynamic_map(const SimpleMap & new_map);
 
protected:
  std::string map_path_;
 
private:
  SimpleMap static_map_;

  SimpleMap 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_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_PLANNER__SIMPLEMAPMANAGER_HPP_