$search
00001 #!/usr/bin/env python 00002 00003 PKG = 'map_store' 00004 import roslib; roslib.load_manifest(PKG) 00005 import rospy 00006 import sys 00007 import map_store.srv 00008 00009 save_as = None 00010 try: 00011 save_as = sys.argv[1] 00012 except: 00013 print "You must specify a name for the map on the server" 00014 sys.exit(1) 00015 00016 print "Waiting for /dynamic_map..." 00017 rospy.wait_for_service('/dynamic_map') 00018 print "Waiting for /save_map..." 00019 rospy.wait_for_service('/save_map') 00020 print "Waiting for /list_maps..." 00021 rospy.wait_for_service('/list_maps') 00022 print "Waiting for /delete_map..." 00023 rospy.wait_for_service('/delete_map') 00024 00025 print "Checking for duplicates..." 00026 list_last_maps = rospy.ServiceProxy('/list_maps', map_store.srv.ListMaps) 00027 delete_map = rospy.ServiceProxy('/delete_map', map_store.srv.DeleteMap) 00028 maps = [] 00029 try: 00030 maps = list_last_maps().map_list 00031 except: 00032 print "Getting maps from the map_manager has failed" 00033 sys.exit(2) 00034 00035 for i in maps: 00036 if (i.name == save_as): 00037 print "Deleting map", i.map_id 00038 delete_map(i.map_id) 00039 00040 print "Starting service..." 00041 save_map = rospy.ServiceProxy('/save_map', map_store.srv.SaveMap) 00042 print "Saving map as", save_as 00043 save_map(save_as) 00044 print "Done" 00045