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Internal static map <-> navstate static map #60

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Internal static map <-> navstate static map #60

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7 changes: 6 additions & 1 deletion .../easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/CostmapMapsManager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,10 +93,15 @@ class CostmapMapsManager : public easynav::MapsManagerBase
Costmap2D static_map_;

/**
* @brief Internal static map.
* @brief Internal dynamic map.
*/
std::shared_ptr<Costmap2D> dynamic_map_;

/**
* @brief Flag to update navstate
*/
bool update_map_static_ = false;

/**
* @brief Publisher for the static occupancy grid.
*/
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21 changes: 18 additions & 3 deletions ...gers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/CostmapMapsManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,6 +135,7 @@ CostmapMapsManager::on_initialize()
static_grid_msg_ = *msg;

static_map_ = Costmap2D(*msg);
update_map_static_ = true;

static_grid_msg_.header.frame_id = tf_info.map_frame;
static_grid_msg_.header.stamp = this->get_node()->now();
Expand Down Expand Up @@ -178,9 +179,25 @@ void
CostmapMapsManager::update(NavState & nav_state)
{
EASYNAV_TRACE_EVENT;
const auto & tf_info = RTTFBuffer::getInstance()->get_tf_info();

if (!nav_state.has("map.static")) {
// Update navstate static map with internal map
if (update_map_static_ || !nav_state.has("map.static")) {
nav_state.set("map.static", static_map_);
update_map_static_ = false;
}

// Update internal map with navstate static map
if (nav_state.has("map.static.update") && nav_state.get<bool>("map.static.update")) {
static_map_ = nav_state.get<Costmap2D>("map.static");
nav_state.set("map.static.update", false);

// Publish to static map topic
static_map_.toOccupancyGridMsg(static_grid_msg_);

static_grid_msg_.header.frame_id = tf_info.map_frame;
static_grid_msg_.header.stamp = this->get_node()->now();
static_occ_pub_->publish(static_grid_msg_);
}

if (!dynamic_map_) {
Expand All @@ -201,8 +218,6 @@ CostmapMapsManager::update(NavState & nav_state)

nav_state.set("map.dynamic", dynamic_map_);

const auto & tf_info = RTTFBuffer::getInstance()->get_tf_info();

rclcpp::Time map_stamp = nav_state.get<rclcpp::Time>("map_time");

dynamic_map_->toOccupancyGridMsg(dynamic_grid_msg_);
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