octomap_saver.cpp
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00001 /*
00002  * Copyright (c) 2010-2013, A. Hornung, University of Freiburg
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 University of Freiburg 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 #include <ros/ros.h>
00031 #include <octomap_msgs/conversions.h>
00032 #include <octomap/octomap.h>
00033 #include <fstream>
00034 
00035 #include <octomap_msgs/GetOctomap.h>
00036 using octomap_msgs::GetOctomap;
00037 
00038 #define USAGE "\nUSAGE: octomap_saver [-f] <mapfile.[bt|ot]>\n" \
00039                 "  -f: Query for the full occupancy octree, instead of just the compact binary one\n" \
00040                 "  mapfile.bt: filename of map to be saved (.bt: binary tree, .ot: general octree)\n"
00041 
00042 using namespace std;
00043 using namespace octomap;
00044 
00045 class MapSaver{
00046 public:
00047   MapSaver(const std::string& mapname, bool full){
00048     ros::NodeHandle n;
00049     std::string servname = "octomap_binary";
00050     if (full)
00051       servname = "octomap_full";
00052     ROS_INFO("Requesting the map from %s...", n.resolveName(servname).c_str());
00053     GetOctomap::Request req;
00054     GetOctomap::Response resp;
00055     while(n.ok() && !ros::service::call(servname, req, resp))
00056     {
00057       ROS_WARN("Request to %s failed; trying again...", n.resolveName(servname).c_str());
00058       usleep(1000000);
00059     }
00060 
00061     if (n.ok()){ // skip when CTRL-C
00062 
00063       AbstractOcTree* tree = octomap_msgs::msgToMap(resp.map);
00064       AbstractOccupancyOcTree* octree = NULL;
00065       if (tree){
00066         octree = dynamic_cast<AbstractOccupancyOcTree*>(tree);
00067       } else {
00068         ROS_ERROR("Error creating octree from received message");
00069         if (resp.map.id == "ColorOcTree")
00070           ROS_WARN("You requested a binary map for a ColorOcTree - this is currently not supported. Please add -f to request a full map");
00071       }
00072 
00073       if (octree){
00074         ROS_INFO("Map received (%zu nodes, %f m res), saving to %s", octree->size(), octree->getResolution(), mapname.c_str());
00075         
00076         std::string suffix = mapname.substr(mapname.length()-3, 3);
00077         if (suffix== ".bt"){ // write to binary file:
00078           if (!octree->writeBinary(mapname)){
00079             ROS_ERROR("Error writing to file %s", mapname.c_str());
00080           }
00081         } else if (suffix == ".ot"){ // write to full .ot file:
00082           if (!octree->write(mapname)){
00083             ROS_ERROR("Error writing to file %s", mapname.c_str());
00084           }
00085         } else{
00086           ROS_ERROR("Unknown file extension, must be either .bt or .ot");
00087         }
00088 
00089 
00090       } else{
00091         ROS_ERROR("Error reading OcTree from stream");
00092       }
00093 
00094       delete octree;
00095 
00096     }
00097   }
00098 };
00099 
00100 int main(int argc, char** argv){
00101   ros::init(argc, argv, "octomap_saver");
00102   std::string mapFilename("");
00103   bool fullmap = false;
00104   if (argc == 3 && strcmp(argv[1], "-f")==0){
00105     fullmap = true;
00106     mapFilename = std::string(argv[2]);
00107   } else if (argc == 2)
00108     mapFilename = std::string(argv[1]);
00109   else{
00110     ROS_ERROR("%s", USAGE);
00111     exit(1);
00112   }
00113 
00114   try{
00115     MapSaver ms(mapFilename, fullmap);
00116   }catch(std::runtime_error& e){
00117     ROS_ERROR("octomap_saver exception: %s", e.what());
00118     exit(2);
00119   }
00120 
00121   exit(0);
00122 }
00123 
00124 


octomap_server
Author(s): Armin Hornung
autogenerated on Wed Nov 23 2016 03:40:03