server.cpp

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#include <boost/filesystem.hpp>
#include <ros/ros.h>
#include <nav_grid_server/image_loader.h>
#include <nav_msgs/MapMetaData.h>
#include <nav_msgs/GetMap.h>
#include <nav_grid_pub_sub/nav_grid_publisher.h>
#include <nav_grid_pub_sub/occ_grid_message_utils.h>
#include <yaml-cpp/yaml.h>
#include <string>
 
class MapServer
{
public:
  explicit MapServer(const std::string& filename) : pub_(the_map_)
  {
    ros::NodeHandle global_nh, private_nh("~");
 
    std::string image_filename;
 
    // The following parameters will be overwritten by the ROS parameters (if they exist), or the yaml parameters
    std::string frame_id = "map";
    double resolution = 0.05;
    bool negate = false;
    double occ_th = 0.65;
    double free_th = 0.196;
    std::string mode = "trinary";
    double origin_x = 0.0;
    double origin_y = 0.0;
    std::string occupancy_grid_topic = "map";
    std::string nav_grid_topic = "static_map";
 
    private_nh.param("frame_id", frame_id, frame_id);
 
    if (filename.find("yaml") != std::string::npos)
    {
      YAML::Node config = YAML::LoadFile(filename.c_str());
      image_filename = config["image"].as<std::string>();
      if (image_filename[0] != '/')
      {
        boost::filesystem::path yaml_path(filename);
        boost::filesystem::path image_path = yaml_path.parent_path() / image_filename;
        image_filename = image_path.string();
      }
 
      if (config["resolution"]) resolution = config["resolution"].as<double>();
      // Allow for either boolean or integer (0|1)
      if (config["negate"]) negate = config["negate"].as<bool, int>(0);
      if (config["occupied_thresh"]) occ_th = config["occupied_thresh"].as<double>();
      if (config["free_thresh"]) free_th = config["free_thresh"].as<double>();
      if (config["mode"]) mode = config["mode"].as<std::string>();
      if (config["origin"])
      {
        origin_x = config["origin"][0].as<double>();
        origin_y = config["origin"][1].as<double>();
      }
    }
    else
    {
      image_filename = filename;
    }
 
    // If the parameter exists, use it, otherwise use the previous value
    private_nh.param("resolution", resolution, resolution);
    private_nh.param("negate", negate, negate);
    private_nh.param("occupied_thresh", occ_th, occ_th);
    private_nh.param("free_thresh", free_th, free_th);
    private_nh.param("mode", mode, mode);
    private_nh.param("origin_x", origin_x, origin_x);
    private_nh.param("origin_y", origin_y, origin_y);
    private_nh.param("occupancy_grid_topic", occupancy_grid_topic, occupancy_grid_topic);
    private_nh.param("nav_grid_topic", nav_grid_topic, nav_grid_topic);
 
    the_map_ = nav_grid_server::classicLoadMapFromFile(image_filename, resolution, negate, occ_th, free_th, mode);
    nav_grid::NavGridInfo full_info = the_map_.getInfo();
    full_info.frame_id = frame_id;
    full_info.origin_x = origin_x;
    full_info.origin_y = origin_y;
    the_map_.setInfo(full_info);
 
    // To make sure get a consistent time in simulation
    ros::Time::waitForValid();
    ROS_INFO_NAMED("MapServer", "Read a %d X %d map @ %.3lf m/cell",
                   the_map_.getWidth(), the_map_.getHeight(), the_map_.getResolution());
 
    grid_version_ = nav_grid_pub_sub::toOccupancyGrid(the_map_, ros::Time::now());
 
    pub_.init(global_nh, nav_grid_topic, occupancy_grid_topic, "", false);
    pub_.setCostInterpretation(nav_grid_pub_sub::RAW);
    pub_.publish();
 
    // Service provider
    service_ = global_nh.advertiseService("static_map", &MapServer::mapCallback, this);
 
    // Latched publisher for metadata
    metadata_pub_ = global_nh.advertise<nav_msgs::MapMetaData>("map_metadata", 1, true);
    metadata_pub_.publish(grid_version_.info);
  }
 
private:
  nav_grid_pub_sub::NavGridPublisher pub_;
  ros::Publisher metadata_pub_;
  ros::ServiceServer service_;
 
  nav_grid::VectorNavGrid<unsigned char> the_map_;
  nav_msgs::OccupancyGrid grid_version_;
 
  bool mapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
  {
    // request is empty; we ignore it
    res.map = grid_version_;
    ROS_INFO_NAMED("MapServer", "Sending map");
 
    return true;
  }
};
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "map_server", ros::init_options::AnonymousName);
  if (argc != 2)
  {
    ROS_ERROR_NAMED("MapServer", "USAGE: server (map.yaml|map_image)");
    ROS_ERROR_NAMED("MapServer", "  map.yaml: map description file");
    ROS_ERROR_NAMED("MapServer", "  map_image: any valid image file");
    exit(EXIT_FAILURE);
  }
 
  try
  {
    MapServer ms(argv[1]);
    ros::spin();
  }
  catch(std::runtime_error& e)
  {
    ROS_ERROR_NAMED("MapServer", "exception: %s", e.what());
    exit(EXIT_FAILURE);
  }
 
  return 0;
}