occupancy_map_monitor_middleware_handle.hpp

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/* Author: Tyler Weaver */
 
#pragma once
 
#include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
#include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
 
#include <pluginlib/class_loader.hpp>
#include <rclcpp/rclcpp.hpp>
 
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
namespace occupancy_map_monitor
{
class OccupancyMapMonitorMiddlewareHandle : public OccupancyMapMonitor::MiddlewareHandle
{
public:
  OccupancyMapMonitorMiddlewareHandle(const rclcpp::Node::SharedPtr& node, double map_resolution,
                                      const std::string& map_frame);
 
  OccupancyMapMonitor::Parameters getParameters() const override;
 
  OccupancyMapUpdaterPtr loadOccupancyMapUpdater(const std::string& sensor_plugin) override;
 
  void initializeOccupancyMapUpdater(OccupancyMapUpdaterPtr occupancy_map_updater) override;
 
  void createSaveMapService(OccupancyMapMonitor::MiddlewareHandle::SaveMapServiceCallback callback) override;
 
  void createLoadMapService(OccupancyMapMonitor::MiddlewareHandle::LoadMapServiceCallback callback) override;
 
private:
  rclcpp::Node::SharedPtr node_;                                       
  rclcpp::Service<moveit_msgs::srv::SaveMap>::SharedPtr save_map_srv_; 
  rclcpp::Service<moveit_msgs::srv::LoadMap>::SharedPtr load_map_srv_; 
  std::unique_ptr<pluginlib::ClassLoader<OccupancyMapUpdater>>
      updater_plugin_loader_; 
  OccupancyMapMonitor::Parameters parameters_; 
};
 
}  // namespace occupancy_map_monitor