Map2D_nws_ros.h

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/*
 * SPDX-FileCopyrightText: 2006-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_MAP2D_NWS_ROS_H
#define YARP_DEV_MAP2D_NWS_ROS_H
 
#include <vector>
#include <iostream>
#include <string>
#include <sstream>
#include <mutex>
 
#include <yarp/os/Network.h>
#include <yarp/os/Port.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/Time.h>
#include <yarp/os/Property.h>
 
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/RpcServer.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/IMap2D.h>
#include <yarp/dev/MapGrid2D.h>
#include <yarp/dev/Map2DLocation.h>
#include <yarp/dev/Map2DArea.h>
#include <yarp/dev/Map2DPath.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/os/ResourceFinder.h>
 
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/api.h>
#include <yarp/os/Publisher.h>
#include <yarp/os/Subscriber.h>
#include <yarp/os/Node.h>
#include <yarp/rosmsg/visualization_msgs/MarkerArray.h>
#include <yarp/rosmsg/nav_msgs/MapMetaData.h>
#include <yarp/rosmsg/nav_msgs/OccupancyGrid.h>
 
class Map2D_nws_ros :
        public yarp::dev::DeviceDriver,
        public yarp::os::PortReader,
        public yarp::dev::WrapperSingle
{
public:
    Map2D_nws_ros();
    ~Map2D_nws_ros();
    bool open(yarp::os::Searchable &params) override;
    bool close() override;
    bool detach() override;
    bool attach(yarp::dev::PolyDriver* driver) override;
 
private:
    //drivers and interfaces
    yarp::dev::Nav2D::IMap2D*    m_iMap2D = nullptr;
    yarp::dev::PolyDriver        m_drv;
 
    std::mutex                   m_mutex;
    std::string                  m_rpcPortName;
    yarp::os::Node*              m_node = nullptr;
    bool                         m_enable_publish_map;
    bool                         m_enable_subscribe_map;
 
    #define ROSNODENAME "/map2DServerNode"
    #define ROSTOPICNAME_MAP "/map"
    #define ROSTOPICNAME_MAPMETADATA "/map_metadata"
 
    yarp::os::RpcServer                                                    m_rpcPort;
    yarp::os::Publisher<yarp::rosmsg::nav_msgs::OccupancyGrid>             m_publisherPort_map;
    yarp::os::Publisher<yarp::rosmsg::nav_msgs::MapMetaData>               m_publisherPort_metamap;
    yarp::os::Subscriber<yarp::rosmsg::nav_msgs::OccupancyGrid>            m_subscriberPort_map;
    yarp::os::Subscriber<yarp::rosmsg::nav_msgs::MapMetaData>              m_subscriberPort_metamap;
    yarp::os::Publisher<yarp::rosmsg::visualization_msgs::MarkerArray>     m_publisherPort_markers;
 
    bool read(yarp::os::ConnectionReader& connection) override;
 
    bool updateVizMarkers(std::string map_name = "ros_map");
    bool subscribeMapFromRos(std::string map_name = "ros_map");
    bool publishMapToRos(std::string map_name = "ros_map");
};
 
#endif // YARP_DEV_MAP2D_NWS_ROS_H