cb_save_slam_map.cpp

Go to the documentation of this file.

// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#include <angles/angles.h>
#include <chrono>
#include <geometry_msgs/msg/twist.hpp>
#include <memory>
#include <nav2_msgs/srv/save_map.hpp>
#include <nav2z_client/client_behaviors/cb_save_slam_map.hpp>
#include <nav2z_client/components/pose/cp_pose.hpp>
#include <slam_toolbox/srv/save_map.hpp>
#include <smacc2/client_behaviors/cb_call_service.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
#include <std_msgs/msg/string.hpp>
 
namespace cl_nav2z
{
using namespace std::chrono_literals;
 
CbSaveSlamMap::CbSaveSlamMap() : CbServiceCall("/map_saver/save_map", getRequest())
{
  // : CbServiceCall("/slam_toolbox/save_map",
  //                   getRequest()) {
 
  // map_name.data = "saved_map";
  // auto request = getRequest(map_name);
  // RCLCPP_INFO_STREAM(getLogger(), "Save Slam Map builded");
}
 
// void onEntry() override {}
 
void CbSaveSlamMap::onExit() {}
 
std::shared_ptr<nav2_msgs::srv::SaveMap::Request> CbSaveSlamMap::getRequest(
  /*slam_toolbox::srv::SaveMap_Request_<std::allocator<void> >::_name_type saved_map_name*/)
{
  nav2_msgs::srv::SaveMap_Request map_save;
  std_msgs::msg::String map_name;
 
  // // map_name.data = "saved_map";
  // map_save.map_topic = "map";
  // map_save.map_url = "${workspacesFolder}/maps/saved_map";
  // map_save.image_format = "png";
  // map_save.occupied_thresh = 0.65;
  // map_save.free_thresh = 0.25;
  // map_save.map_mode = "trinary";
 
  // // auto request = std::make_shared<slam_toolbox::srv::SaveMap::Request>();
  // // // request->name = saved_map_name;
  // // request->name = map_name;
  // // return request;
  // auto request = std::make_shared<nav2_msgs::srv::SaveMap::Request>(map_save);
 
  auto request = std::make_shared<nav2_msgs::srv::SaveMap::Request>();
  request->map_topic = "map";
  request->map_url = "/tmp/saved_map";
  request->image_format = "png";
  request->occupied_thresh = 0.65;
  request->free_thresh = 0.25;
  request->map_mode = "trinary";
 
  return request;
}
}  // namespace cl_nav2z
 
// slam_toolbox::srv::SaveMap_Request_<std::allocator<void> >::_name_type
 
// std_msgs::msg::String_<std::allocator<void> >