autoware::lanelet2_map_provider::Lanelet2MapProviderNode Class Reference

ROS 2 Node for semantic map provider using lanelet2 map format. Node loads a lanelet2 OSM format map using the class Lanelet2MapProvider and then runs a service for supplying other nodes map information according to their requests. Requests are defined by a sequences of requested primitives as well as geometric bounds on requested map data. More...

#include <lanelet2_map_provider_node.hpp>

Inheritance diagram for autoware::lanelet2_map_provider::Lanelet2MapProviderNode:

Collaboration diagram for autoware::lanelet2_map_provider::Lanelet2MapProviderNode:

Public Member Functions
	Lanelet2MapProviderNode (const rclcpp::NodeOptions &options)
	default constructor, loads the map and transforms it from earth frame into map frame. *breaks docs test - no node_name generated by automatic package generator – param[in] node_name name of the node for rclcpp internals More...
void	handle_request (std::shared_ptr< autoware_auto_msgs::srv::HADMapService_Request > request, std::shared_ptr< autoware_auto_msgs::srv::HADMapService_Response > response)
	Handles the node service requests. More...

Detailed Description

ROS 2 Node for semantic map provider using lanelet2 map format. Node loads a lanelet2 OSM format map using the class Lanelet2MapProvider and then runs a service for supplying other nodes map information according to their requests. Requests are defined by a sequences of requested primitives as well as geometric bounds on requested map data.

Constructor & Destructor Documentation

Lanelet2MapProviderNode()

autoware::lanelet2_map_provider::Lanelet2MapProviderNode::Lanelet2MapProviderNode ( const rclcpp::NodeOptions &  options )

explicit

default constructor, loads the map and transforms it from earth frame into map frame. *breaks docs test - no node_name generated by automatic package generator – param[in] node_name name of the node for rclcpp internals

Exceptions

runtime

error if failed to start threads or configure driver

This could potentially also read the same yaml that the ndt map publisher reads

Member Function Documentation

handle_request()

void autoware::lanelet2_map_provider::Lanelet2MapProviderNode::handle_request	(	std::shared_ptr< autoware_auto_msgs::srv::HADMapService_Request >	request,
		std::shared_ptr< autoware_auto_msgs::srv::HADMapService_Response >	response
	)

Handles the node service requests.

Parameters

request	Service request message for map data specifying map content and geom. bounds
response	Service repsone to request, containing a sub-set of map data but nethertheless containing a complete and valid lanelet2 map

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

• lanelet2_map_provider_node.hpp
• lanelet2_map_provider_node.cpp