occupancy_map_server.cpp

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/* Author: Jon Binney, Ioan Sucan */

#include <boost/shared_ptr.hpp>
#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
#include <octomap_msgs/conversions.h>

static void publishOctomap(ros::Publisher *octree_binary_pub, occupancy_map_monitor::OccupancyMapMonitor *server)
{
  octomap_msgs::Octomap map;

  map.header.frame_id = server->getMapFrame();
  map.header.stamp = ros::Time::now();

  server->getOcTreePtr()->lockRead();
  try
  {
    if (!octomap_msgs::binaryMapToMsgData(*server->getOcTreePtr(), map.data))
      ROS_ERROR_THROTTLE(1, "Could not generate OctoMap message");
  }
  catch(...)
  {
    ROS_ERROR_THROTTLE(1, "Exception thrown while generating OctoMap message");
  }
  server->getOcTreePtr()->unlockRead();

  octree_binary_pub->publish(map);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "occupancy_map_server");
  ros::NodeHandle nh;
  ros::Publisher octree_binary_pub = nh.advertise<octomap_msgs::Octomap>("octomap_binary", 1);
  boost::shared_ptr<tf::Transformer> listener = boost::make_shared<tf::TransformListener>(ros::Duration(5.0));
  occupancy_map_monitor::OccupancyMapMonitor server(listener);
  server.setUpdateCallback(boost::bind(&publishOctomap, &octree_binary_pub, &server));
  server.startMonitor();

  ros::spin();
  return 0;
}