occupancy_map_server.cpp
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00034 
00035 /* Author: Jon Binney, Ioan Sucan */
00036 
00037 #include <boost/shared_ptr.hpp>
00038 #include <ros/ros.h>
00039 #include <tf/tf.h>
00040 #include <tf/transform_listener.h>
00041 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
00042 #include <octomap_msgs/conversions.h>
00043 
00044 static void publishOctomap(ros::Publisher* octree_binary_pub, occupancy_map_monitor::OccupancyMapMonitor* server)
00045 {
00046   octomap_msgs::Octomap map;
00047 
00048   map.header.frame_id = server->getMapFrame();
00049   map.header.stamp = ros::Time::now();
00050 
00051   server->getOcTreePtr()->lockRead();
00052   try
00053   {
00054     if (!octomap_msgs::binaryMapToMsgData(*server->getOcTreePtr(), map.data))
00055       ROS_ERROR_THROTTLE(1, "Could not generate OctoMap message");
00056   }
00057   catch (...)
00058   {
00059     ROS_ERROR_THROTTLE(1, "Exception thrown while generating OctoMap message");
00060   }
00061   server->getOcTreePtr()->unlockRead();
00062 
00063   octree_binary_pub->publish(map);
00064 }
00065 
00066 int main(int argc, char** argv)
00067 {
00068   ros::init(argc, argv, "occupancy_map_server");
00069   ros::NodeHandle nh;
00070   ros::Publisher octree_binary_pub = nh.advertise<octomap_msgs::Octomap>("octomap_binary", 1);
00071   boost::shared_ptr<tf::Transformer> listener = boost::make_shared<tf::TransformListener>(ros::Duration(5.0));
00072   occupancy_map_monitor::OccupancyMapMonitor server(listener);
00073   server.setUpdateCallback(boost::bind(&publishOctomap, &octree_binary_pub, &server));
00074   server.startMonitor();
00075 
00076   ros::spin();
00077   return 0;
00078 }


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Tue Oct 23 2018 02:26:51