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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 <hector_geotiff/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
00118
00119 hector_geotiff::MapGenerator mg(mapname);
00120
00121 ros::spin();
00122
00123 return 0;
00124 }
00125