cl_nav2z::CbSaveSlamMap Struct Reference

#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 ()
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 ()
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=false)

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()

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");
}

Member Function Documentation

getRequest()

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;
}

onExit()

void cl_nav2z::CbSaveSlamMap::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 49 of file cb_save_slam_map.cpp.

{}

---

The documentation for this struct was generated from the following files:

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_save_slam_map.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_save_slam_map.cpp