octomap_server: octomap_server_combined.cpp Source File

00001 
00009 /*
00010  * Copyright (c) 2009-2011, A. Hornung, University of Freiburg
00011  * All rights reserved.
00012  *
00013  * Redistribution and use in source and binary forms, with or without
00014  * modification, are permitted provided that the following conditions are met:
00015  *
00016  *     * Redistributions of source code must retain the above copyright
00017  *       notice, this list of conditions and the following disclaimer.
00018  *     * Redistributions in binary form must reproduce the above copyright
00019  *       notice, this list of conditions and the following disclaimer in the
00020  *       documentation and/or other materials provided with the distribution.
00021  *     * Neither the name of the University of Freiburg nor the names of its
00022  *       contributors may be used to endorse or promote products derived from
00023  *       this software without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00028  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00029  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00030  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00031  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00032  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00033  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00034  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035  * POSSIBILITY OF SUCH DAMAGE.
00036  */
00037 
00038 
00039 #include <ros/ros.h>
00040 #include <octomap_server/OctomapServerCombined.h>
00041 
00042 #define USAGE "\nUSAGE: octomap_server <map.bt>\n" \
00043               "  map.bt: octomap 3D map file to read\n"
00044 
00045 using namespace octomap;
00046 
00047 int main(int argc, char** argv){
00048   ros::init(argc, argv, "octomap_server");
00049   std::string mapFilename("");
00050 
00051   if (argc > 2 || (argc == 2 && std::string(argv[1]) == "-h")){
00052           ROS_ERROR("%s", USAGE);
00053           exit(-1);
00054   }
00055 
00056   if (argc == 2)
00057           mapFilename = std::string(argv[1]);
00058 
00059   try{
00060           OctomapServerCombined ms(mapFilename);
00061           ros::spin();
00062   }catch(std::runtime_error& e){
00063           ROS_ERROR("octomap_server exception: %s", e.what());
00064           return -1;
00065   }
00066 
00067   return 0;
00068 }