occupancy_map_updater.cpp

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/* Author: Ioan Sucan, Jon Binney */
 
#include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
#include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
#include <rclcpp/clock.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <string>
 
namespace occupancy_map_monitor
{
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.occupancy_map_updater");
 
OccupancyMapUpdater::OccupancyMapUpdater(const std::string& type) : type_(type)
{
}
 
OccupancyMapUpdater::~OccupancyMapUpdater() = default;
 
void OccupancyMapUpdater::setMonitor(OccupancyMapMonitor* monitor)
{
  monitor_ = monitor;
  tree_ = monitor->getOcTreePtr();
}
 
// TODO rework this function
// void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, double* value)
// {
//   if (params.hasMember(param_name))
//   {
//     if (params[param_name].getType() == XmlRpc::XmlRpcValue::TypeInt)
//       *value = static_cast<int>(params[param_name]);
//     else
//       *value = (double)params[param_name];
//   }
// }
 
// TODO rework this function
// void OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue& params, const std::string& param_name, unsigned int*
// value)
// {
//   if (params.hasMember(param_name))
//     *value = static_cast<int>(params[param_name]);
// }
 
bool OccupancyMapUpdater::updateTransformCache(const std::string& target_frame, const rclcpp::Time& target_time)
{
  transform_cache_.clear();
  if (transform_provider_callback_)
  {
    bool success = transform_provider_callback_(target_frame, target_time, transform_cache_);
    if (!success)
    {
      rclcpp::Clock steady_clock(RCL_STEADY_TIME);
      RCLCPP_ERROR_THROTTLE(
          LOGGER, steady_clock, 1000,
          "Transform cache was not updated. Self-filtering may fail. If transforms were not available yet, consider "
          "setting robot_description_planning.shape_transform_cache_lookup_wait_time to wait longer for transforms");
    }
    return success;
  }
  else
  {
    rclcpp::Clock steady_clock(RCL_STEADY_TIME);
    RCLCPP_WARN_THROTTLE(LOGGER, steady_clock, 1000,
                         "No callback provided for updating the transform cache for octomap updaters");
    return false;
  }
}
}  // namespace occupancy_map_monitor