lanelet2_map_interface.hpp

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// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: Apache-2.0
 
#include "rclcpp/rclcpp.hpp"
 
#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_io/Io.h>
#include <lanelet2_io/Projection.h>
#include <lanelet2_projection/UTM.h>
 
#include <string.h>
#include <chrono>
#include <fstream>
#include <iostream>
#include <limits>
 
class Lanelet2MapInterface {
 public:
  Lanelet2MapInterface(rclcpp::Node& parent_node, std::string map_server_name);
 
  lanelet::LaneletMapConstPtr getMapPtr();
 
  lanelet::LaneletMapPtr getNonConstMapPtr();
 
  std::shared_ptr<lanelet::Projector> getProjectorPtr();
  bool map_loaded_ = false;
  bool update_pending_ = false;  // Flag indicating if the client node should update map
  std::string map_frame_id_;
 
 private:
  rclcpp::Node* parent_node_;
  std::shared_ptr<rclcpp::AsyncParametersClient> parameter_client_;
  std::shared_ptr<rclcpp::ParameterEventHandler> parameter_sub_;
  std::shared_ptr<rclcpp::ParameterCallbackHandle> frame_id_callback_handle_, contents_callback_handle_,
      origin_lat_callback_handle_, origin_lon_callback_handle_;
  rclcpp::TimerBase::SharedPtr startup_timer_;
 
  std::string map_filepath_;
 
  std::vector<rclcpp::Parameter> map_params_;
  std::string map_contents_;
  double origin_lat_ = std::numeric_limits<double>::quiet_NaN();
  double origin_lon_ = std::numeric_limits<double>::quiet_NaN();
 
  lanelet::LaneletMapPtr mapPtr_;
  std::shared_ptr<lanelet::Projector> utmProjectorPtr_;
 
  std::string map_server_name_;
  bool params_declared_ = false;
 
  void updateMapParam(rclcpp::Parameter param);
 
  bool loadMap();
 
  bool validateParams();
 
  void findMapServer();
 
  void updateParamsCallback(const rclcpp::Parameter& p);
 
  void serviceParamsCallback(std::shared_future<std::vector<rclcpp::Parameter>> future);
};