occupancy_map_monitor_middleware_handle.cpp

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/* Author: Tyler Weaver */
 
#include <moveit/occupancy_map_monitor/occupancy_map_monitor_middleware_handle.hpp>
#include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
 
#include <pluginlib/class_loader.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/parameter_value.hpp>
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
namespace occupancy_map_monitor
{
namespace
{
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.occupancy_map_monitor.middleware_handle");
}
 
OccupancyMapMonitorMiddlewareHandle::OccupancyMapMonitorMiddlewareHandle(const rclcpp::Node::SharedPtr& node,
                                                                         double map_resolution,
                                                                         const std::string& map_frame)
  : node_{ node }, parameters_{ map_resolution, map_frame, {} }
{
  try
  {
    updater_plugin_loader_ = std::make_unique<pluginlib::ClassLoader<OccupancyMapUpdater>>(
        "moveit_ros_occupancy_map_monitor", "occupancy_map_monitor::OccupancyMapUpdater");
  }
  catch (pluginlib::PluginlibException& ex)
  {
    RCLCPP_FATAL_STREAM(LOGGER, "Exception while creating octomap updater plugin loader " << ex.what());
    throw ex;
  }
 
  if (parameters_.map_resolution <= std::numeric_limits<double>::epsilon())
  {
    if (!node_->get_parameter("octomap_resolution", parameters_.map_resolution))
    {
      parameters_.map_resolution = 0.1;
      RCLCPP_WARN(LOGGER, "Resolution not specified for Octomap. Assuming resolution = %g instead",
                  parameters_.map_resolution);
    }
  }
 
  if (parameters_.map_frame.empty())
  {
    node_->get_parameter("octomap_frame", parameters_.map_frame);
    if (parameters_.map_frame.empty())
    {
      RCLCPP_ERROR(LOGGER, "No 'octomap_frame' parameter defined for octomap updates");
    }
  }
 
  std::vector<std::string> sensor_names;
  if (!node_->get_parameter("sensors", sensor_names))
  {
    RCLCPP_ERROR(LOGGER, "No 3D sensor plugin(s) defined for octomap updates");
  }
  else if (sensor_names.empty())
  {
    RCLCPP_ERROR(LOGGER, "List of sensors is empty!");
  }
 
  for (const auto& sensor_name : sensor_names)
  {
    std::string sensor_plugin = "";
    if (!node_->get_parameter(sensor_name + ".sensor_plugin", sensor_plugin))
    {
      RCLCPP_ERROR(LOGGER, "No sensor plugin specified for octomap updater %s; ignoring.", sensor_name.c_str());
    }
 
    if (sensor_plugin.empty() || sensor_plugin[0] == '~')
    {
      RCLCPP_INFO_STREAM(LOGGER, "Skipping octomap updater plugin '" << sensor_plugin << "'");
      continue;
    }
    else
    {
      parameters_.sensor_plugins.emplace_back(sensor_name, sensor_plugin);
    }
  }
}
 
OccupancyMapMonitor::Parameters OccupancyMapMonitorMiddlewareHandle::getParameters() const
{
  return parameters_;
}
 
OccupancyMapUpdaterPtr OccupancyMapMonitorMiddlewareHandle::loadOccupancyMapUpdater(const std::string& sensor_plugin)
{
  try
  {
    return updater_plugin_loader_->createUniqueInstance(sensor_plugin);
  }
  catch (pluginlib::PluginlibException& exception)
  {
    RCLCPP_ERROR_STREAM(LOGGER, "Exception while loading octomap updater '" << sensor_plugin
                                                                            << "': " << exception.what() << '\n');
  }
  return nullptr;
}
 
void OccupancyMapMonitorMiddlewareHandle::initializeOccupancyMapUpdater(OccupancyMapUpdaterPtr occupancy_map_updater)
{
  if (!occupancy_map_updater->initialize(node_))
  {
    RCLCPP_ERROR(LOGGER, "Unable to initialize map updater of type %s", occupancy_map_updater->getType().c_str());
  }
}
 
void OccupancyMapMonitorMiddlewareHandle::createSaveMapService(
    OccupancyMapMonitor::MiddlewareHandle::SaveMapServiceCallback callback)
{
  save_map_srv_ = node_->create_service<moveit_msgs::srv::SaveMap>("save_map", callback);
}
 
void OccupancyMapMonitorMiddlewareHandle::createLoadMapService(
    OccupancyMapMonitor::MiddlewareHandle::LoadMapServiceCallback callback)
{
  load_map_srv_ = node_->create_service<moveit_msgs::srv::LoadMap>("load_map", callback);
}
 
}  // namespace occupancy_map_monitor