data_merger.cpp

Go to the documentation of this file.

//Global includes



//Pkg includes
#include <ros/ros.h>


//ISM includes
#include <ISM/tools/DataMerger.hpp>


bool getNodeParameters(ros::NodeHandle nh, std::string& target_file, std::vector<std::string>& source_files, bool& merge_records, bool& merge_models)
{
    bool success = true;

    if (!nh.getParam("target", target_file) || target_file.empty())
    {
        ROS_INFO("Missing parameter: \"target\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("target: " << target_file);
    }

    if (!nh.getParam("sources", source_files) || source_files.empty())
    {
        ROS_INFO("Missing parameter: \"sources\"");
        success = false;
    }
    else
    {
        std::stringstream info;
        info << "sources:";
        for (const std::string& file : source_files)
        {
            info << std::endl << "\t" << file;
        }
        ROS_INFO_STREAM(info.str());
    }

    if (!nh.getParam("merge_records", merge_records))
    {
        ROS_INFO("Missing parameter: \"merge_records\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("merge_records: " << merge_records);
    }

    if (!nh.getParam("merge_models", merge_models))
    {
        ROS_INFO("Missing parameter: \"merge_models\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("merge_models: " << merge_models);
    }


    return success;
}

int main (int argc, char **argv)
{
    //Usual ros node stuff
    ros::init(argc, argv, "data_merger");
    ros::NodeHandle nh("~");
    ISM::DataMerger data_merger;

    std::string target_file;
    std::vector<std::string> source_files;
    bool merge_records;
    bool merge_models;

    if(getNodeParameters(nh, target_file, source_files, merge_records, merge_models))
    {
        data_merger.merge(target_file, source_files, merge_records, merge_models);
        ROS_INFO("MERGE COMPLETED!");
    }
    else
    {
        ROS_INFO("MERGE ABORTED! Check launch-file for missing parameter.");
    }

    return 0;
}