load_map.hpp

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namespace nav_msgs::srv {
class LoadMap {};
class LoadMap::Request {
public:
    // URL of map resource
    // Can be an absolute path to a file: file:///path/to/maps/floor1.yaml
    // Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml
    std::string map_url;
};
 
class LoadMap::Response {
public:
    // Result code defintions
    static const uint8_t RESULT_SUCCESS = 0;
    static const uint8_t RESULT_MAP_DOES_NOT_EXIST = 1;
    static const uint8_t RESULT_INVALID_MAP_DATA = 2;
    static const uint8_t RESULT_INVALID_MAP_METADATA = 3;
    static const uint8_t RESULT_UNDEFINED_FAILURE = 255;
 
    // Returned map is only valid if result equals RESULT_SUCCESS
    nav_msgs::msg::OccupancyGrid map;
    uint8_t result;
};
} // namespace nav_msgs::srv