Autoware.Auto
lanelet2_map_visualizer.hpp
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1 // Copyright 2020 The Autoware Foundation
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 //    http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
16 
17 #ifndef LANELET2_MAP_PROVIDER__LANELET2_MAP_VISUALIZER_HPP_
18 #define LANELET2_MAP_PROVIDER__LANELET2_MAP_VISUALIZER_HPP_
19 
20 #include <rclcpp/rclcpp.hpp>
21 #include <common/types.hpp>
22 
23 #include <string>
24 #include <memory>
25 
27 
28 namespace autoware
29 {
30 namespace lanelet2_map_provider
31 {
32 
35 
36 class LANELET2_MAP_PROVIDER_PUBLIC Lanelet2MapVisualizer : public rclcpp::Node
37 {
38 public:
40  explicit Lanelet2MapVisualizer(const rclcpp::NodeOptions & options);
41 
42 private:
43  rclcpp::Client<autoware_auto_mapping_msgs::srv::HADMapService>::SharedPtr m_client;
44  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr m_viz_pub;
45 
46  void visualize_map_callback(
47  rclcpp::Client<autoware_auto_mapping_msgs::srv::HADMapService>::SharedFuture response);
48 };
49 
50 } // namespace lanelet2_map_provider
51 
52 } // namespace autoware
53 
54 #endif // LANELET2_MAP_PROVIDER__LANELET2_MAP_VISUALIZER_HPP_
types.hpp
This file includes common type definition.
autoware::lanelet2_map_provider::Lanelet2MapVisualizer
Definition: lanelet2_map_visualizer.hpp:36
autoware
This file defines the lanelet2_map_provider_node class.
Definition: quick_sort.hpp:24
visibility_control.hpp
lanelet2_map_provider
Definition: lanelet2_map_provider.launch.py:1