cb_save_slam_map.hpp

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// 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
 *
 ******************************************************************************************************************/
 
#pragma once
 
#include <memory>
#include <nav2_msgs/srv/save_map.hpp>
#include <slam_toolbox/srv/save_map.hpp>
#include <smacc2/client_behaviors/cb_call_service.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
 
namespace cl_nav2z
{
using namespace std::chrono_literals;
template <typename TService>
using CbServiceCall = smacc2::client_behaviors::CbServiceCall<TService>;
 
struct CbSaveSlamMap : public CbServiceCall<nav2_msgs::srv::SaveMap>
{
public:
  CbSaveSlamMap();
  // void onEntry() override {}
 
  void onExit() override;
 
  std::shared_ptr<nav2_msgs::srv::SaveMap::Request> getRequest(
    /*slam_toolbox::srv::SaveMap_Request_<std::allocator<void> >::_name_type saved_map_name*/);
};
}  // namespace cl_nav2z