map_saver.cpp
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /*
00031 behavior:
00032  - listens on "map" topic.  On each map:
00033    - id_of_most_recent_map = Collection.publish(map, {session ID, map name})
00034 
00035 service calls:
00036  - save_map(map name) returns void
00037    - save the map returned by dynamic_map as map name
00038  */
00039 
00040 #include <mongo_ros/message_collection.h>
00041 #include <ros/ros.h>
00042 #include <nav_msgs/OccupancyGrid.h>
00043 #include <nav_msgs/GetMap.h>
00044 #include <map_store/SaveMap.h>
00045 
00046 #include <string>
00047 #include <sstream>
00048 
00049 #include <uuid/uuid.h>
00050 
00051 namespace mr=mongo_ros;
00052 
00053 std::string session_id;
00054 mr::MessageCollection<nav_msgs::OccupancyGrid> *map_collection;
00055 ros::ServiceClient add_metadata_service_client;
00056 ros::ServiceClient dynamic_map_service_client;
00057 
00058 std::string uuidGenerate() {
00059   uuid_t uuid;
00060   uuid_generate(uuid);
00061   char uuid_string[37]; // UUID prints into 36 bytes + NULL terminator
00062   uuid_unparse_lower(uuid, uuid_string);
00063   return std::string(uuid_string);
00064 }
00065 
00066 void onMapReceived(const nav_msgs::OccupancyGrid::ConstPtr& map_msg)
00067 {
00068   ROS_DEBUG("received map");
00069   std::string uuid_string = uuidGenerate();
00070   mr::Metadata metadata
00071     = mr::Metadata("uuid", uuid_string,
00072                    "session_id", session_id);
00073 
00074   map_collection->insert(*map_msg, metadata);
00075 
00076   ROS_DEBUG("saved map");
00077 }
00078 
00079 bool saveMap(map_store::SaveMap::Request &req,
00080              map_store::SaveMap::Response &res)
00081 {
00082   nav_msgs::GetMap srv;
00083   if (!dynamic_map_service_client.call(srv)) {
00084     ROS_ERROR("Dynamic map getter service call failed");
00085     return false;
00086   }
00087   
00088   std::string uuid_string = uuidGenerate();
00089   mr::Metadata metadata
00090     = mr::Metadata("uuid", uuid_string,
00091                    "session_id", session_id,
00092                    "name", req.map_name);
00093 
00094   ROS_DEBUG("Save map %d by %d @ %f as %s", srv.response.map.info.width, 
00095             srv.response.map.info.height, srv.response.map.info.resolution, req.map_name.c_str());
00096   map_collection->insert(srv.response.map, metadata);
00097   
00098   ROS_DEBUG("nameLastestMaps() service call done");
00099   return true;
00100 }
00101 
00102 int main (int argc, char** argv)
00103 {
00104   ros::init(argc, argv, "map_saver");
00105   ros::NodeHandle nh;
00106 
00107   // Use the current ROS time in seconds as the session id.
00108   char buff[256]; 
00109   snprintf(buff, 256, "%f", ros::Time::now().toSec());
00110   session_id = std::string(buff);
00111 
00112   map_collection = new mr::MessageCollection<nav_msgs::OccupancyGrid>("map_store", "maps");
00113 
00114   ros::Subscriber map_subscriber = nh.subscribe("map", 1, onMapReceived);
00115 
00116   ros::ServiceServer name_latest_map_service = nh.advertiseService("save_map", saveMap);
00117   dynamic_map_service_client = nh.serviceClient<nav_msgs::GetMap>("dynamic_map");
00118 
00119   ROS_DEBUG("spinning.");
00120 
00121   ros::spin();
00122   return 0;
00123 }


map_store
Author(s): Dave Hershberger
autogenerated on Wed Aug 26 2015 12:28:59