map_server_node.cpp

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/***********************************************************************************
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 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
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#include <map_server_node.h>

#include <mrpt_bridge/map.h>

#include <mrpt/system/filesystem.h>  // ASSERT_FILE_EXISTS_()
#include <mrpt/version.h>
#if MRPT_VERSION >= 0x199
#include <mrpt/config/CConfigFile.h>
using namespace mrpt::config;
#else
#include <mrpt/utils/CConfigFile.h>
using namespace mrpt::utils;
#endif

#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/maps/CMultiMetricMap.h>
using mrpt::maps::CMultiMetricMap;
using mrpt::maps::COccupancyGridMap2D;

MapServer::MapServer(ros::NodeHandle& n) : n_(n) {}

MapServer::~MapServer() {}
void MapServer::init()
{
        std::string ini_file;
        std::string map_file;
        n_param_.param<bool>("debug", debug_, true);
        ROS_INFO("debug: %s", (debug_ ? "true" : "false"));
        n_param_.param<std::string>("ini_file", ini_file, "map.ini");
        ROS_INFO("ini_file: %s", ini_file.c_str());
        n_param_.param<std::string>("map_file", map_file, "map.simplemap");
        ROS_INFO("map_file: %s", map_file.c_str());
        n_param_.param<std::string>(
                "frame_id", resp_ros_.map.header.frame_id, "map");
        ROS_INFO("frame_id: %s", resp_ros_.map.header.frame_id.c_str());
        n_param_.param<double>("frequency", frequency_, 0.1);
        ROS_INFO("frequency: %f", frequency_);

        pub_map_ros_ = n_.advertise<nav_msgs::OccupancyGrid>("map", 1, true);
        pub_metadata_ =
                n_.advertise<nav_msgs::MapMetaData>("map_metadata", 1, true);
        service_map_ =
                n_.advertiseService("static_map", &MapServer::mapCallback, this);

        if (!mrpt::system::fileExists(ini_file))
        {
                ROS_ERROR("ini_file: %s does not exit", ini_file.c_str());
        }
        if (!mrpt::system::fileExists(map_file))
        {
                ROS_ERROR("map_file: %s does not exit", map_file.c_str());
        }
        ASSERT_FILE_EXISTS_(ini_file);
        CConfigFile config_file;
        config_file.setFileName(ini_file);
        metric_map_ = boost::shared_ptr<CMultiMetricMap>(new CMultiMetricMap);
        mrpt_bridge::MapHdl::loadMap(
                *metric_map_, config_file, map_file, "metricMap", debug_);

#if MRPT_VERSION >= 0x199
        const COccupancyGridMap2D& grid =
                *metric_map_->mapByClass<COccupancyGridMap2D>();
#else
        const COccupancyGridMap2D& grid = *metric_map_->m_gridMaps[0];
#endif

        if (debug_)
                printf(
                        "gridMap[0]:  %i x %i @ %4.3fm/p, %4.3f, %4.3f, %4.3f, %4.3f\n",
                        grid.getSizeX(), grid.getSizeY(), grid.getResolution(),
                        grid.getXMin(), grid.getYMin(), grid.getXMax(), grid.getYMax());

        mrpt_bridge::convert(grid, resp_ros_.map);
        if (debug_)
                printf(
                        "msg:         %i x %i @ %4.3fm/p, %4.3f, %4.3f, %4.3f, %4.3f\n",
                        resp_ros_.map.info.width, resp_ros_.map.info.height,
                        resp_ros_.map.info.resolution, resp_ros_.map.info.origin.position.x,
                        resp_ros_.map.info.origin.position.y,
                        resp_ros_.map.info.width * resp_ros_.map.info.resolution +
                                resp_ros_.map.info.origin.position.x,
                        resp_ros_.map.info.height * resp_ros_.map.info.resolution +
                                resp_ros_.map.info.origin.position.y);
}

bool MapServer::mapCallback(
        nav_msgs::GetMap::Request& req, nav_msgs::GetMap::Response& res)
{
        ROS_INFO("mapCallback: service requested!\n");
        res = resp_ros_;
        return true;
}

void MapServer::publishMap()
{
        resp_ros_.map.header.stamp = ros::Time::now();
        resp_ros_.map.header.seq = loop_count_;
        if (pub_map_ros_.getNumSubscribers() > 0)
        {
                pub_map_ros_.publish(resp_ros_.map);
        }
        if (pub_metadata_.getNumSubscribers() > 0)
        {
                pub_metadata_.publish(resp_ros_.map.info);
        }
}

void MapServer::loop()
{
        if (frequency_ > 0)
        {
                ros::Rate rate(frequency_);
                for (loop_count_ = 0; ros::ok(); loop_count_++)
                {
                        publishMap();
                        ros::spinOnce();
                        rate.sleep();
                }
        }
        else
        {
                publishMap();
                ros::spin();
        }
}

int main(int argc, char** argv)
{
        // Initialize ROS
        ros::init(argc, argv, "mrpt_map_server");
        ros::NodeHandle node;
        MapServer my_node(node);
        my_node.init();
        my_node.loop();
        return 0;
}