lanelet2_map_provider_node.hpp

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// Copyright 2020 The Autoware Foundation
//
// 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.


#ifndef LANELET2_MAP_PROVIDER__LANELET2_MAP_PROVIDER_NODE_HPP_
#define LANELET2_MAP_PROVIDER__LANELET2_MAP_PROVIDER_NODE_HPP_

#include <rclcpp/rclcpp.hpp>

#include <lanelet2_map_provider/lanelet2_map_provider.hpp>
#include <memory>

#include "autoware_auto_msgs/srv/had_map_service.hpp"
#include "autoware_auto_msgs/msg/had_map_bin.hpp"

namespace autoware
{
namespace lanelet2_map_provider
{


class LANELET2_MAP_PROVIDER_PUBLIC Lanelet2MapProviderNode : public rclcpp::Node
{
public:
  explicit Lanelet2MapProviderNode(const rclcpp::NodeOptions & options);

  void handle_request(
    std::shared_ptr<autoware_auto_msgs::srv::HADMapService_Request> request,
    std::shared_ptr<autoware_auto_msgs::srv::HADMapService_Response> response);

private:
  geometry_msgs::msg::TransformStamped get_map_origin();

  std::unique_ptr<Lanelet2MapProvider> m_map_provider;
  rclcpp::Service<autoware_auto_msgs::srv::HADMapService>::SharedPtr m_map_service;
};

}  // namespace lanelet2_map_provider

}  // namespace autoware

#endif  // LANELET2_MAP_PROVIDER__LANELET2_MAP_PROVIDER_NODE_HPP_