cp_costmap_switch.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 <array>
#include <functional>
#include <map>
#include <memory>
#include <string>
 
#include <rclcpp/rclcpp.hpp>
 
#include <nav2z_client/nav2z_client.hpp>
#include <smacc2/component.hpp>
 
// #include <dynamic_reconfigure/DoubleParameter.h>
// #include <dynamic_reconfigure/Reconfigure.h>
// #include <dynamic_reconfigure/Config.h>
 
namespace cl_nav2z
{
class CostmapProxy;
 
class CostmapSwitch : public smacc2::ISmaccComponent
{
public:
  enum class StandardLayers
  {
    GLOBAL_OBSTACLES_LAYER = 0,
    LOCAL_OBSTACLES_LAYER = 1,
    GLOBAL_INFLATED_LAYER = 2,
    LOCAL_INFLATED_LAYER = 3
  };
 
  static std::array<std::string, 4> layerNames;
 
  CostmapSwitch();
 
  void onInitialize() override;
 
  static std::string getStandardCostmapName(StandardLayers layertype);
 
  bool exists(std::string layerName);
 
  void enable(std::string layerName);
 
  void enable(StandardLayers layerType);
 
  void disable(std::string layerName);
 
  void disable(StandardLayers layerType);
 
  void registerProxyFromDynamicReconfigureServer(
    std::string costmapName, std::string enablePropertyName = "enabled");
 
private:
  std::map<std::string, std::shared_ptr<CostmapProxy>> costmapProxies;
  cl_nav2z::ClNav2Z * moveBaseClient_;
};
//-------------------------------------------------------------------------
class CostmapProxy
{
public:
  CostmapProxy(
    std::string costmap_name, std::string enablePropertyName, rclcpp::Node::SharedPtr nh);
 
  void setCostmapEnabled(bool value);
 
private:
  std::string costmapName_;
  rclcpp::Node::SharedPtr nh_;
 
  inline rclcpp::Node::SharedPtr getNode() { return nh_; }
};
}  // namespace cl_nav2z