Additional code facelift

* Correct licensing years
* Fix Vector Object server dependencies
* Funcion rename for better readability
* Improve/fix comments

Author: AlexeyMerzlyakov

nav2_map_server/CMakeLists.txt

@@ -8,6 +8,8 @@ find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(rclcpp_components REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(nav2_msgs REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
@@ -93,6 +95,8 @@ set(vo_server_dependencies
   rclcpp
   rclcpp_lifecycle
   rclcpp_components
+  geometry_msgs
+  tf2_ros
   nav_msgs
   nav2_msgs
   nav2_util)

nav2_map_server/include/nav2_map_server/vector_object_server.hpp

@@ -170,7 +170,7 @@ class VectorObjectServer : public nav2_util::LifecycleNode
 
   /**
    * @brief Callback for RemoveShapes service call.
-   * Try to remove all requested objects and switches map processing/publishing routine
+   * Try to remove requested vector objects and switches map processing/publishing routine
    * @param request_header Service request header
    * @param request Service request
    * @param response Service response

nav2_map_server/include/nav2_map_server/vector_object_shapes.hpp

@@ -128,7 +128,7 @@ class Shape
     const double transform_tolerance) = 0;
 
   /**
-   * @brief Gets shape boundaries.
+   * @brief Gets shape box-boundaries.
    * Empty virtual method intended to be used in child implementations
    * @param min_x output min X-boundary of shape
    * @param min_y output min Y-boundary of shape
@@ -237,7 +237,7 @@ class Polygon : public Shape
     const double transform_tolerance);
 
   /**
-   * @brief Gets shape boundaries
+   * @brief Gets shape box-boundaries
    * @param min_x output min X-boundary of shape
    * @param min_y output min Y-boundary of shape
    * @param max_x output max X-boundary of shape
@@ -347,7 +347,7 @@ class Circle : public Shape
     const double transform_tolerance);
 
   /**
-   * @brief Gets shape boundaries
+   * @brief Gets shape box-boundaries
    * @param min_x output min X-boundary of shape
    * @param min_y output min Y-boundary of shape
    * @param max_x output max X-boundary of shape

nav2_map_server/include/nav2_map_server/vector_object_utils.hpp

@@ -16,8 +16,8 @@
 #define NAV2_MAP_SERVER__VECTOR_OBJECT_UTILS_HPP_
 
 #include <uuid/uuid.h>
-#include <string>
 #include <stdexcept>
+#include <string>
 
 #include "rclcpp/rclcpp.hpp"
 #include "nav_msgs/msg/occupancy_grid.hpp"
@@ -32,7 +32,7 @@ namespace nav2_map_server
 // ---------- Working with UUID-s ----------
 
 /**
- * @beirf Converts input UUID from input array to unparsed string
+ * @beirf Converts UUID from input array to unparsed string
  * @param uuid Input UUID in array format
  * @return Unparsed UUID string
  */
@@ -49,7 +49,7 @@ inline std::string unparseUUID(const unsigned char * uuid)
  * @brief Declares and obtains ROS-parameter from given node
  * @param node LifecycleNode pointer where the parameter belongs to
  * @param param_name Parameter name string
- * @param default_val Default value of the parameter (in case if parameter is not set)
+ * @param default_val Default value of the parameter (for the case if parameter is not set)
  * @return Obtained parameter value
  */
 template<typename ValT>
@@ -94,7 +94,7 @@ enum class OverlayType : uint8_t
 
 /**
  * @brief Updates map value with shape's one according to the given overlay type
- * @param map_val Map value. To be updated with new value if overlay is required
+ * @param map_val Map value. To be updated with new value if overlay is involved
  * @param shape_val Vector object value to be overlayed on map
  * @param overlay_type Type of overlay
  * @throw std::exception in case of unknown overlay type
@@ -125,13 +125,13 @@ inline void processVal(
 }
 
 /**
- * @brief Fill the cell on the map with given shape value according to the given overlay type
- * @param map Output map to be filled with
- * @param offset Offset to the cell to be filled
- * @param shape_val Vector object value to be overlayed on map
+ * @brief Updates the cell on the map with given shape value according to the given overlay type
+ * @param map Output map to be updated with
+ * @param offset Offset to the cell to be updated
+ * @param shape_val Vector object value to be updated map with
  * @param overlay_type Type of overlay
  */
-inline void fillMap(
+inline void processCell(
   nav_msgs::msg::OccupancyGrid::SharedPtr map,
   const unsigned int offset,
   const int8_t shape_val,
@@ -148,7 +148,7 @@ class MapAction
 public:
   /**
    * @brief MapAction constructor
-   * @param map Output map pointer
+   * @param map Pointer to output map
    * @param value Value to put on map
    * @param overlay_type Overlay type
    */
@@ -159,12 +159,12 @@ class MapAction
   {}
 
   /**
-   * @brief Map filling operator
+   * @brief Map' cell updating operator
    * @param offset Offset on the map where the cell to be changed
    */
   inline void operator()(unsigned int offset)
   {
-    fillMap(map_, offset, value_, overlay_type_);
+    processCell(map_, offset, value_, overlay_type_);
   }
 
 protected:

nav2_map_server/package.xml

@@ -21,7 +21,9 @@
   <depend>yaml_cpp_vendor</depend>
   <depend>launch_ros</depend>
   <depend>launch_testing</depend>
+  <depend>geometry_msgs</depend>
   <depend>tf2</depend>
+  <depend>tf2_ros</depend>
   <depend>nav2_msgs</depend>
   <depend>nav2_util</depend>
   <depend>graphicsmagick</depend>

nav2_map_server/src/vo_server/vector_object_shapes.cpp

@@ -563,7 +563,7 @@ inline void Circle::putPoint(
   nav_msgs::msg::OccupancyGrid::SharedPtr map,
   const OverlayType overlay_type)
 {
-  fillMap(map, my * map->info.width + mx, params_->value, overlay_type);
+  processCell(map, my * map->info.width + mx, params_->value, overlay_type);
 }
 
 }  // namespace nav2_map_server

nav2_util/include/nav2_util/polygon_utils.hpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2023 Samsung R&D Institute Russia
+// Copyright (c) 2022 Samsung R&D Institute Russia
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

nav2_util/test/regression/map_bresenham_2d.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2023 Samsung R&D Institute Russia
+// Copyright (c) 2022 Samsung R&D Institute Russia
 // All rights reserved.
 //
 // Software License Agreement (BSD License 2.0)
@@ -38,6 +38,9 @@
 
 #include "nav2_util/raytrace_line_2d.hpp"
 
+// MapAction - is a functor class used to cover raytraceLine algorithm.
+// It contains char map inside, which is an abstract one and not related
+// to any concrete representation (like Costmap2D or OccupancyGrid).
 class MapAction
 {
 public: