This class contains the ros interfaces for OccupancyMapMontior. More...

#include <occupancy_map_monitor_middleware_handle.hpp>

Inheritance diagram for occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle:

Collaboration diagram for occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle:

Public Member Functions
	OccupancyMapMonitorMiddlewareHandle (const rclcpp::Node::SharedPtr &node, double map_resolution, const std::string &map_frame)
	Constructor, reads the parameters.

OccupancyMapMonitor::Parameters	getParameters () const override
	Gets the parameters struct.

OccupancyMapUpdaterPtr	loadOccupancyMapUpdater (const std::string &sensor_plugin) override
	Loads an occupancy map updater using pluginlib.

void	initializeOccupancyMapUpdater (OccupancyMapUpdaterPtr occupancy_map_updater) override
	Initializes the occupancy map updater. This must be called because of the interface of OccupancyMapUpdater.

void	createSaveMapService (OccupancyMapMonitor::MiddlewareHandle::SaveMapServiceCallback callback) override
	Creates a save map service.

void	createLoadMapService (OccupancyMapMonitor::MiddlewareHandle::LoadMapServiceCallback callback) override
	Creates a load map service.

Public Member Functions inherited from occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle
virtual	~MiddlewareHandle ()=default
	Destroys the object. Needed because this is pure virtual interface.

Additional Inherited Members
Public Types inherited from occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle
using	SaveMapServiceCallback = std::function< bool(const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< moveit_msgs::srv::SaveMap::Request > request, std::shared_ptr< moveit_msgs::srv::SaveMap::Response > response)>

using	LoadMapServiceCallback = std::function< bool(const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< moveit_msgs::srv::LoadMap::Request > request, std::shared_ptr< moveit_msgs::srv::LoadMap::Response > response)>

Detailed Description

This class contains the ros interfaces for OccupancyMapMontior.

Definition at line 55 of file occupancy_map_monitor_middleware_handle.hpp.

Constructor & Destructor Documentation

◆ OccupancyMapMonitorMiddlewareHandle()

occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle::OccupancyMapMonitorMiddlewareHandle	(	const rclcpp::Node::SharedPtr &	node,
		double	map_resolution,
		const std::string &	map_frame
	)

Constructor, reads the parameters.

Parameters

[in]	node	The ros node
[in]	map_resolution	The map resolution, if not > 0 read from a parameter
[in]	map_frame	The map frame, if not empty read from a parameter

Definition at line 53 of file occupancy_map_monitor_middleware_handle.cpp.

Member Function Documentation

◆ createLoadMapService()

void occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle::createLoadMapService ( OccupancyMapMonitor::MiddlewareHandle::LoadMapServiceCallback callback )

overridevirtual

Creates a load map service.

Parameters

[in] callback The callback closure

Implements occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle.

Definition at line 153 of file occupancy_map_monitor_middleware_handle.cpp.

◆ createSaveMapService()

void occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle::createSaveMapService ( OccupancyMapMonitor::MiddlewareHandle::SaveMapServiceCallback callback )

overridevirtual

Creates a save map service.

Parameters

[in] callback The callback closure

Implements occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle.

Definition at line 147 of file occupancy_map_monitor_middleware_handle.cpp.