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00001 //================================================================================================= 00002 // Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Simulation, Systems Optimization and Robotics 00013 // group, TU Darmstadt nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #include <cstdio> 00030 #include "ros/ros.h" 00031 #include "ros/console.h" 00032 #include "nav_msgs/GetMap.h" 00033 #include "geometry_msgs/Quaternion.h" 00034 00035 #include <Eigen/Geometry> 00036 00037 #include <QtGui/QApplication> 00038 00039 #include <hector_map_tools/HectorMapTools.h> 00040 00041 #include <geotiff_writer/geotiff_writer.h> 00042 00043 using namespace std; 00044 00045 namespace hector_geotiff{ 00046 00050 class MapGenerator 00051 { 00052 public: 00053 MapGenerator(const std::string& mapname) : mapname_(mapname) 00054 { 00055 ros::NodeHandle n; 00056 ROS_INFO("Waiting for the map"); 00057 map_sub_ = n.subscribe("map", 1, &MapGenerator::mapCallback, this); 00058 } 00059 00060 void mapCallback(const nav_msgs::OccupancyGridConstPtr& map) 00061 { 00062 ros::Time start_time (ros::Time::now()); 00063 00064 geotiff_writer.setMapFileName(mapname_); 00065 geotiff_writer.setupTransforms(*map); 00066 geotiff_writer.drawBackgroundCheckerboard(); 00067 geotiff_writer.drawMap(*map); 00068 geotiff_writer.drawCoords(); 00069 00070 geotiff_writer.writeGeotiffImage(); 00071 00072 ros::Duration elapsed_time (ros::Time::now() - start_time); 00073 ROS_INFO("GeoTiff created in %f seconds", elapsed_time.toSec()); 00074 } 00075 00076 GeotiffWriter geotiff_writer; 00077 00078 std::string mapname_; 00079 ros::Subscriber map_sub_; 00080 }; 00081 00082 } 00083 00084 #define USAGE "Usage: \n" \ 00085 " geotiff_saver -h\n"\ 00086 " geotiff_saver [-f <mapname>] [ROS remapping args]" 00087 00088 int main(int argc, char** argv) 00089 { 00090 ros::init(argc, argv, "map_saver"); 00091 std::string mapname = "map"; 00092 00093 for(int i=1; i<argc; i++) 00094 { 00095 if(!strcmp(argv[i], "-h")) 00096 { 00097 puts(USAGE); 00098 return 0; 00099 } 00100 else if(!strcmp(argv[i], "-f")) 00101 { 00102 if(++i < argc) 00103 mapname = argv[i]; 00104 else 00105 { 00106 puts(USAGE); 00107 return 1; 00108 } 00109 } 00110 else 00111 { 00112 puts(USAGE); 00113 return 1; 00114 } 00115 } 00116 00117 //GeotiffWriter geotiff_writer; 00118 //geotiff_writer.setMapName("test"); 00119 hector_geotiff::MapGenerator mg(mapname); 00120 00121 ros::spin(); 00122 00123 return 0; 00124 } 00125