occupancy_map_server.cpp

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/* Author: Jon Binney, Ioan Sucan */
 
#include <rclcpp/version.h>
 
#include <moveit/occupancy_map_monitor/occupancy_map_monitor.hpp>
 
#include <octomap_msgs/conversions.h>
// For Rolling, Kilted, and newer
#if RCLCPP_VERSION_GTE(29, 6, 0)
#include <tf2_ros/transform_listener.hpp>
// For Jazzy and older
#else
#include <tf2_ros/transform_listener.h>
#endif
#include <rclcpp/clock.hpp>
#include <rclcpp/executors.hpp>
#include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/publisher.hpp>
#include <rclcpp/version.h>
#include <moveit/utils/logger.hpp>
#if RCLCPP_VERSION_GTE(20, 0, 0)
#include <rclcpp/event_handler.hpp>
#else
#include <rclcpp/qos_event.hpp>
#endif
#include <rclcpp/time.hpp>
#include <rclcpp/utilities.hpp>
#include <memory>
#include <sstream>
 
static void publishOctomap(const rclcpp::Publisher<octomap_msgs::msg::Octomap>::SharedPtr& octree_binary_pub,
                           occupancy_map_monitor::OccupancyMapMonitor& server)
{
  octomap_msgs::msg::Octomap map;
  const auto logger = moveit::getLogger("moveit.ros.occupancy_map_monitor");
 
  map.header.frame_id = server.getMapFrame();
  map.header.stamp = rclcpp::Clock().now();
 
  server.getOcTreePtr()->lockRead();
  rclcpp::Clock steady_clock(RCL_STEADY_TIME);
  try
  {
    if (!octomap_msgs::binaryMapToMsgData(*server.getOcTreePtr(), map.data))
    {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wold-style-cast"
      RCLCPP_ERROR_THROTTLE(logger, steady_clock, 1000, "Could not generate OctoMap message");
#pragma GCC diagnostic pop
    }
  }
  catch (...)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wold-style-cast"
    RCLCPP_ERROR_THROTTLE(logger, steady_clock, 1000, "Exception thrown while generating OctoMap message");
#pragma GCC diagnostic pop
  }
  server.getOcTreePtr()->unlockRead();
 
  octree_binary_pub->publish(map);
}
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("occupancy_map_server");
  moveit::setNodeLoggerName(node->get_name());
  auto octree_binary_pub =
      node->create_publisher<octomap_msgs::msg::Octomap>("octomap_binary", RMW_QOS_POLICY_HISTORY_KEEP_LAST);
  auto clock_ptr = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
  std::shared_ptr<tf2_ros::Buffer> buffer = std::make_shared<tf2_ros::Buffer>(clock_ptr, tf2::durationFromSec(5.0));
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
  tf2_ros::TransformListener listener(*buffer,
                                      tf2_ros::TransformListener::RequiredInterfaces{
                                          node->get_node_base_interface(), node->get_node_logging_interface(),
                                          node->get_node_parameters_interface(), node->get_node_topics_interface() },
                                      false  // spin_thread
  );
#else
  tf2_ros::TransformListener listener(*buffer, node, false /* spin_thread - disables executor */);
#endif
  occupancy_map_monitor::OccupancyMapMonitor server(node, buffer);
  server.setUpdateCallback(
      [&octree_binary_pub, &server, logger = node->get_logger()] { return publishOctomap(octree_binary_pub, server); });
  server.startMonitor();
 
  rclcpp::spin(node);
  return 0;
}