git commit -m "first commit for v2"
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/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef MAP_SERVER_MAP_SERVER_H
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#define MAP_SERVER_MAP_SERVER_H
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/*
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* Author: Brian Gerkey
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*/
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#include "nav_msgs/GetMap.h"
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/** Map mode
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* Default: TRINARY -
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* value >= occ_th - Occupied (100)
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* value <= free_th - Free (0)
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* otherwise - Unknown
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* SCALE -
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* alpha < 1.0 - Unknown
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* value >= occ_th - Occupied (100)
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* value <= free_th - Free (0)
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* otherwise - f( (free_th, occ_th) ) = (0, 100)
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* (linearly map in between values to (0,100)
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* RAW -
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* value = value
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*/
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enum MapMode {TRINARY, SCALE, RAW};
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namespace map_server
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{
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/** Read the image from file and fill out the resp object, for later
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* use when our services are requested.
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*
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* @param resp The map wil be written into here
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* @param fname The image file to read from
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* @param res The resolution of the map (gets stored in resp)
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* @param negate If true, then whiter pixels are occupied, and blacker
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* pixels are free
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* @param occ_th Threshold above which pixels are occupied
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* @param free_th Threshold below which pixels are free
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* @param origin Triple specifying 2-D pose of lower-left corner of image
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* @param mode Map mode
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* @throws std::runtime_error If the image file can't be loaded
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* */
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void loadMapFromFile(nav_msgs::GetMap::Response* resp,
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const char* fname, double res, bool negate,
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double occ_th, double free_th, double* origin,
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MapMode mode=TRINARY);
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/** Read the image from file and fill out the resp object, for later
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* use when our services are requested.
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*
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* @param resp The map wil be written into here
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* @param fname The image file to read from
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* @param res The resolution of the map (gets stored in resp)
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* @param negate If true, then whiter pixels are occupied, and blacker
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* pixels are free
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* @param occ_th Threshold above which pixels are occupied
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* @param free_th Threshold below which pixels are free
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* @param origin Triple specifying 2-D pose of lower-left corner of image
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* @param mode Map mode
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* @throws std::runtime_error If the image file can't be loaded
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* */
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void loadMapFromFile16Bit(nav_msgs::GetMap::Response* resp,
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const char* fname, double res, bool negate,
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double occ_th, double free_th, double* origin,
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MapMode mode=TRINARY);
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/** Read the image from file and fill out the resp object, for later
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* use when our services are requested.
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*
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* @param resp The map wil be written into here
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* @param fname The image file to read from
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* @param res The resolution of the map (gets stored in resp)
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* @param negate If true, then whiter pixels are occupied, and blacker
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* pixels are free
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* @param occ_th Threshold above which pixels are occupied
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* @param free_th Threshold below which pixels are free
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* @param origin Triple specifying 2-D pose of lower-left corner of image
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* @param mode Map mode
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* @throws std::runtime_error If the image file can't be loaded
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* */
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void loadMapFromFile32Bit(nav_msgs::GetMap::Response* resp,
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const char* fname, double res, bool negate,
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double occ_th, double free_th, double* origin,
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MapMode mode=TRINARY);
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}
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#endif
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#ifndef MAP_GENERATOR_H_INCLUDED_
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#define MAP_GENERATOR_H_INCLUDED_
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#include <cstdio>
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#include "ros/ros.h"
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#include "ros/console.h"
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#include "nav_msgs/GetMap.h"
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#include "tf2/LinearMath/Matrix3x3.h"
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#include "geometry_msgs/Quaternion.h"
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namespace map_server
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{
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/**
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* @brief Map generation node.
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*/
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class MapGenerator
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{
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public:
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MapGenerator(ros::NodeHandle nh, const std::string& mapname, const std::string map_topic,
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int threshold_occupied = 65, int threshold_free = 25);
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MapGenerator(const std::string& mapname, const std::string map_topic,
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int threshold_occupied = 65, int threshold_free = 25);
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virtual ~MapGenerator() {}
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virtual bool waitingGenerator(double tolerance = 2.0);
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bool isMapSaved() {return saved_map_;}
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private:
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void mapCallback(const nav_msgs::OccupancyGridConstPtr& map);
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std::string mapname_;
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ros::Subscriber map_sub_;
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bool saved_map_;
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int threshold_occupied_;
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int threshold_free_;
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};
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} // namespace map_server
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#endif // MAP_GENERATOR_H_INCLUDED_
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@@ -0,0 +1,123 @@
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/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in the
|
||||
* documentation and/or other materials provided with the distribution.
|
||||
* * Neither the name of the Willow Garage, Inc. nor the names of its
|
||||
* contributors may be used to endorse or promote products derived from
|
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* this software without specific prior written permission.
|
||||
*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/* Author: Brian Gerkey */
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#ifndef __MAP_SERVER_H_INCLUDED_
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#define __MAP_SERVER_H_INCLUDED_
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#include <stdio.h>
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#include <stdlib.h>
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#include <fstream>
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#include <boost/filesystem.hpp>
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#include "ros/ros.h"
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#include "ros/console.h"
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#include "map_server/image_loader.h"
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#include "nav_msgs/MapMetaData.h"
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#include "nav_msgs/LoadMap.h"
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#include "yaml-cpp/yaml.h"
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#ifdef HAVE_YAMLCPP_GT_0_5_0
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// The >> operator disappeared in yaml-cpp 0.5, so this function is
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// added to provide support for code written under the yaml-cpp 0.3 API.
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template <typename T>
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void operator>>(const YAML::Node& node, T& i)
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{
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i = node.as<T>();
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}
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#endif
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#define MAP_IDX(sx, i, j) ((sx) * (j) + (i))
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namespace map_server
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{
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class MapServer
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{
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public:
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/**
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* @brief Trivial constructor
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*/
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MapServer(const std::string& fname, double res);
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MapServer(ros::NodeHandle nh, std::string name_sp, const std::string& fname, double res);
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/**
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* @brief Load a map given a path to a yaml file
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* @param path_to_yaml The path to file yaml
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* @return True/False If load map succesed or not done
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*/
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bool loadMapFromYaml(std::string path_to_yaml);
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private:
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ros::NodeHandle nh_;
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ros::Publisher map_pub_;
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ros::Publisher map_convert_;
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ros::Publisher metadata_pub_;
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ros::ServiceServer get_map_service_;
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ros::ServiceServer change_map_srv_;
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bool deprecated_;
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std::string frame_id_;
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int type_;
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void initialize(ros::NodeHandle nh, const std::string& fname, double res);
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/**
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* @brief Callback invoked when someone requests our service
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*/
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bool mapCallback(nav_msgs::GetMap::Request& req, nav_msgs::GetMap::Response& res);
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/**
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* @brief Callback invoked when someone requests to change the map
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*/
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bool changeMapCallback(nav_msgs::LoadMap::Request& request, nav_msgs::LoadMap::Response& response);
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/**
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* @brief Load a map given all the values needed to understand it
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*/
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bool loadMapFromValues(std::string map_file_name, double resolution,
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int negate, double occ_th, double free_th, double origin[3], MapMode mode);
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/**
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* @brief Load a map using the deprecated method
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*/
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bool loadMapFromParams(std::string map_file_name, double resolution);
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/**
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* @brief The map data is cached here, to be sent out to service callers
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*/
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nav_msgs::MapMetaData meta_data_message_;
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nav_msgs::GetMap::Response map_resp_;
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}; // class MapServer
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} // namespace map_sever
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#endif // __MAP_SERVER_H_INCLUDED_
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