octomap_server_multilayer.cpp
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00001 /*
00002  * Copyright (c) 2009-2013, 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 
00031 #include <ros/ros.h>
00032 #include <octomap_server/OctomapServerMultilayer.h>
00033 
00034 #define USAGE "\nUSAGE: octomap_server_multilayer <map.bt>\n" \
00035                 "  map.bt: inital octomap 3D map file to read\n"
00036 
00037 using namespace octomap_server;
00038 
00039 int main(int argc, char** argv){
00040   ros::init(argc, argv, "octomap_server_multilayer");
00041   std::string mapFilename("");
00042 
00043   if (argc > 2 || (argc == 2 && std::string(argv[1]) == "-h")){
00044     ROS_ERROR("%s", USAGE);
00045     exit(-1);
00046   }
00047 
00048 
00049   OctomapServerMultilayer server;
00050   ros::spinOnce();
00051 
00052   if (argc == 2){
00053     mapFilename = std::string(argv[1]);
00054     if (!server.openFile(mapFilename)){
00055       ROS_ERROR("Could not open file %s", mapFilename.c_str());
00056       exit(1);
00057     }
00058   }
00059 
00060 
00061 
00062 
00063   try{
00064     ros::spin();
00065   }catch(std::runtime_error& e){
00066     ROS_ERROR("octomap_server_multilayer exception: %s", e.what());
00067     return -1;
00068   }
00069 
00070   return 0;
00071 }


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