octomap_tensor_field: octomap_eraser

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00001 #!/usr/bin/env python
00002 
00003 """Clear a region specified by a global axis-aligned bounding box in stored
00004 OctoMap.
00005 
00006 """
00007 
00008 import sys
00009 from time import sleep
00010 
00011 import roslib
00012 roslib.load_manifest('octomap_server')
00013 from geometry_msgs.msg import Point
00014 import octomap_msgs.srv
00015 import rospy
00016 
00017 
00018 SRV_NAME = '/octomap_server/clear_bbx'
00019 SRV_INTERFACE = octomap_msgs.srv.BoundingBoxQuery
00020 
00021 
00022 if __name__ == '__main__':
00023     min = Point(*[float(x) for x in sys.argv[1:4]])
00024     max = Point(*[float(x) for x in sys.argv[4:7]])
00025 
00026     rospy.init_node('octomap_eraser_cli', anonymous=True)
00027     sleep(1)
00028     service = rospy.ServiceProxy(SRV_NAME, SRV_INTERFACE)
00029     rospy.loginfo("Connected to %s service." % SRV_NAME)
00030     
00031     service(min, max)