occupancy_map_monitor.hpp

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/* Author: Ioan Sucan, Jon Binney */
 
#pragma once
 
#include <moveit/collision_detection/occupancy_map.hpp>
#include <moveit/occupancy_map_monitor/occupancy_map_updater.hpp>
#include <moveit_msgs/srv/load_map.hpp>
#include <moveit_msgs/srv/save_map.hpp>
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/version.h>
// For Rolling, Kilted, and newer
#if RCLCPP_VERSION_GTE(29, 6, 0)
#include <tf2_ros/buffer.hpp>
// For Jazzy and older
#else
#include <tf2_ros/buffer.h>
#endif
 
#include <functional>
#include <memory>
#include <mutex>
#include <string>
#include <utility>
#include <vector>
 
namespace occupancy_map_monitor
{
class OccupancyMapMonitor
{
public:
  struct Parameters
  {
    double map_resolution;
    std::string map_frame;
    std::vector<std::pair<std::string, std::string>> sensor_plugins;
  };
 
  class MiddlewareHandle
  {
  public:
    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)>;
 
    virtual ~MiddlewareHandle() = default;
 
    virtual Parameters getParameters() const = 0;
 
    virtual OccupancyMapUpdaterPtr loadOccupancyMapUpdater(const std::string& sensor_plugin) = 0;
 
    virtual void initializeOccupancyMapUpdater(OccupancyMapUpdaterPtr occupancy_map_updater) = 0;
 
    virtual void createSaveMapService(SaveMapServiceCallback callback) = 0;
 
    virtual void createLoadMapService(LoadMapServiceCallback callback) = 0;
  };
 
  OccupancyMapMonitor(std::unique_ptr<MiddlewareHandle> middleware_handle,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer);
 
  OccupancyMapMonitor(const rclcpp::Node::SharedPtr& node, const std::shared_ptr<tf2_ros::Buffer>& tf_buffer,
                      const std::string& map_frame = "", double map_resolution = 0.0);
 
  OccupancyMapMonitor(const rclcpp::Node::SharedPtr& node, double map_resolution = 0.0);
 
  ~OccupancyMapMonitor();
 
  void startMonitor();
 
  void stopMonitor();
 
  const collision_detection::OccMapTreePtr& getOcTreePtr()
  {
    return tree_;
  }
 
  const collision_detection::OccMapTreeConstPtr& getOcTreePtr() const
  {
    return tree_const_;
  }
 
  const std::string& getMapFrame() const
  {
    return parameters_.map_frame;
  }
 
  void setMapFrame(const std::string& frame);
 
  double getMapResolution() const
  {
    return parameters_.map_resolution;
  }
 
  const std::shared_ptr<tf2_ros::Buffer>& getTFClient() const
  {
    return tf_buffer_;
  }
 
  void addUpdater(const OccupancyMapUpdaterPtr& updater);
 
  ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape);
 
  void forgetShape(ShapeHandle handle);
 
  void setUpdateCallback(const std::function<void()>& update_callback)
  {
    tree_->setUpdateCallback(update_callback);
  }
 
  void setTransformCacheCallback(const TransformCacheProvider& transform_cache_callback);
 
  void publishDebugInformation(bool flag);
 
  bool isActive() const
  {
    return active_;
  }
 
private:
  bool saveMapCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
                       const std::shared_ptr<moveit_msgs::srv::SaveMap::Request>& request,
                       const std::shared_ptr<moveit_msgs::srv::SaveMap::Response>& response);
 
  bool loadMapCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
                       const std::shared_ptr<moveit_msgs::srv::LoadMap::Request>& request,
                       const std::shared_ptr<moveit_msgs::srv::LoadMap::Response>& response);
 
  bool getShapeTransformCache(std::size_t index, const std::string& target_frame, const rclcpp::Time& target_time,
                              ShapeTransformCache& cache) const;
 
  std::unique_ptr<MiddlewareHandle> middleware_handle_; 
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;          
  Parameters parameters_;
  std::mutex parameters_lock_; 
  collision_detection::OccMapTreePtr tree_;            
  collision_detection::OccMapTreeConstPtr tree_const_; 
  std::vector<OccupancyMapUpdaterPtr> map_updaters_;             
  std::vector<std::map<ShapeHandle, ShapeHandle>> mesh_handles_; 
  TransformCacheProvider transform_cache_callback_;              
  bool debug_info_;                                              
  std::size_t mesh_handle_count_; 
  bool active_; 
  rclcpp::Logger logger_;
};
}  // namespace occupancy_map_monitor