loadModelIntoVSlam.cpp

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#include "ros/ros.h"
#include "std_msgs/String.h"

#include <string>
#include <stdlib.h>

#include "../ObjectModel.h"

using namespace std;

// ---------------------------------------------------------------------------

static const std::string topic_name = "re_vslam/load_model";

int main(int argc, char *argv[])
{
  ros::init(argc, argv, "loadModelIntoVSlam");

  if(argc < 2)
  {
    ROS_WARN("Usage: %s <model dir>", argv[0]);
    return 1;
  }
  
  string model_dir = argv[1];
  
  if(model_dir.empty())
  {
    ROS_ERROR("No model directory given");
    return 2;
  }
  
  char *c_abspath = realpath(model_dir.c_str(),  NULL);
  if(!c_abspath)
  {
    ROS_ERROR("Could not get the absolute path of \"%s\"", model_dir.c_str());
    return 3;
  }
  
  string abspath(c_abspath);
  free(c_abspath);

  ros::NodeHandle n;
  ros::Publisher pub = n.advertise<std_msgs::String>(topic_name.c_str(),
    10);
 
  sleep(1);

  if(ObjectModel::checkDirectory(abspath))
  {
    ObjectModel model(abspath, false);
    
    std_msgs::String msg;
    msg.data = abspath;

    ROS_INFO("Sending \"%s\" by topic %s", abspath.c_str(), topic_name.c_str());

    pub.publish(msg);

    ros::spinOnce();
    
    return 0;  
  }
  else
  {
    ROS_ERROR("The directory \"%s\" is not a valid object model. Nothing done.",
      model_dir.c_str());
    return 4;
  }
}

// ---------------------------------------------------------------------------