#include <cb_save_slam_map.hpp>

Inheritance diagram for cl_nav2z::CbSaveSlamMap:

Collaboration diagram for cl_nav2z::CbSaveSlamMap:

Public Member Functions
	CbSaveSlamMap ()

void	onExit () override

std::shared_ptr< nav2_msgs::srv::SaveMap::Request >	getRequest ()

	CbSaveSlamMap ()

void	onExit () override

std::shared_ptr< nav2_msgs::srv::SaveMap::Request >	getRequest ()

Public Member Functions inherited from smacc2::client_behaviors::CbServiceCall< ServiceType >
	CbServiceCall (const char *serviceName)

	CbServiceCall (const char *serviceName, std::shared_ptr< typename ServiceType::Request > request, std::chrono::milliseconds pollRate=100ms)

void	onEntry () override

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFailure (TCallbackMethod callback, T *object)

Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()

virtual	~ISmaccClientBehavior ()

ISmaccStateMachine *	getStateMachine ()

std::string	getName () const

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, bool throwExceptionIfNotExist)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

Additional Inherited Members
Public Attributes inherited from smacc2::client_behaviors::CbServiceCall< ServiceType >
std::shared_future< std::shared_ptr< typename ServiceType::Response > >	resultFuture_

std::shared_ptr< typename ServiceType::Response >	result_

std::chrono::milliseconds	pollRate_

Protected Member Functions inherited from smacc2::client_behaviors::CbServiceCall< ServiceType >
virtual void	onServiceResponse (std::shared_ptr< typename ServiceType::Response >)

Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

bool	isShutdownRequested ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.

Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

ISmaccState *	getCurrentState ()

virtual rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

Protected Attributes inherited from smacc2::client_behaviors::CbServiceCall< ServiceType >
std::shared_ptr< rclcpp::Client< ServiceType > >	client_

std::string	serviceName_

std::shared_ptr< typename ServiceType::Request >	request_

Detailed Description

Definition at line 35 of file cb_save_slam_map.hpp.

Constructor & Destructor Documentation

◆ CbSaveSlamMap() [1/2]

cl_nav2z::CbSaveSlamMap::CbSaveSlamMap ( )

Definition at line 37 of file cb_save_slam_map.cpp.

                             : 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");
}

◆ CbSaveSlamMap() [2/2]

cl_nav2z::CbSaveSlamMap::CbSaveSlamMap ( )

Member Function Documentation

◆ getRequest() [1/2]

std::shared_ptr< nav2_msgs::srv::SaveMap::Request > cl_nav2z::CbSaveSlamMap::getRequest ( )

Definition at line 51 of file cb_save_slam_map.cpp.

{
  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;
}

◆ getRequest() [2/2]

std::shared_ptr< nav2_msgs::srv::SaveMap::Request > cl_nav2z::CbSaveSlamMap::getRequest ( )

◆ onExit() [1/2]

void cl_nav2z::CbSaveSlamMap::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 49 of file cb_save_slam_map.cpp.

49{}

◆ onExit() [2/2]