server_node.cpp

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/******************************************************************************
 * \file
 * $Id: servernode.cpp 834 2012-05-23 16:36:59Z spanel $
 *
 * Modified by dcgm-robotics@FIT group.
 *
 * Author: Vit Stancl (stancl@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd.mm.2011
 *
 * This code is derived from the OctoMap server provided by A. Hornung.
 * Please, see the original comments below.
 */

#include <ros/ros.h>
#include <srs_env_model/but_server/but_server.h>

#define USAGE "\nUSAGE: octomap_server <map.bt>\n" \
              "  map.bt: octomap 3D map file to read\n"

int main(int argc, char** argv){
  ros::init(argc, argv, "but_env_model");
  std::string mapFilename("");

  if (argc > 2 || (argc == 2 && std::string(argv[1]) == "-h")){
          ROS_ERROR("%s", USAGE);
          exit(-1);
  }

  std::cerr << "Number of octomap server parameters: " << argc << std::endl;


  if (argc == 2)
  {
          std::cerr << "Trying to load input octomap file: " << argv[1] << std::endl;
          mapFilename = std::string(argv[1]);
  }
  try{
                // Run server
                srs_env_model::CButServer ms(mapFilename);
                ros::Rate loop_rate(10);

                int count = 0;

                while (ros::ok())
                {
                        ros::spinOnce();

                        loop_rate.sleep();
                        ++count;
                }
  }catch(std::runtime_error& e){
          ROS_ERROR("octomap_server exception: %s", e.what());
          return -1;
  }


  return 0;
}