map_manager.cpp

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#include "cslam/front_end/map_manager.h"
#include "cslam/front_end/stereo_handler.h"
 
using namespace cslam;
 
template <class DataHandlerType>
MapManager<DataHandlerType>::MapManager(std::shared_ptr<rclcpp::Node> &node)
    : node_(node), local_data_handler_(node) {
 
  node_->get_parameter("max_nb_robots", max_nb_robots_);
  node_->get_parameter("robot_id", robot_id_);
  node_->get_parameter("frontend.map_manager_process_period_ms",
                       map_manager_process_period_ms_);
 
  std::chrono::milliseconds period(map_manager_process_period_ms_);
 
  process_timer_ = node_->create_wall_timer(
      std::chrono::milliseconds(period),
      std::bind(&MapManager<DataHandlerType>::process_new_sensor_data, this));
 
  RCLCPP_INFO(node_->get_logger(), "Initialization done.");
}
 
template <class DataHandlerType>
void MapManager<DataHandlerType>::process_new_sensor_data() {
  local_data_handler_.process_new_sensor_data();
}