git commit -m "first commit for v2"

Localizations/Libraries/Ros/map_server/src/map_saver.cpp

@@ -0,0 +1,119 @@
+/*
+ * map_saver
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * 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 <ORGANIZATION> nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * 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
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <ros/ros.h>
+#include "map_server/map_generator.h"
+
+#define USAGE "Usage: \n" \
+              "  map_saver -h\n"\
+              "  map_saver [--occ <threshold_occupied>] [--free <threshold_free>] [-f <mapname>] [ROS remapping args]"
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "map_saver");
+  std::string mapname = "map";
+  int threshold_occupied = 65;
+  int threshold_free = 25;
+
+  for(int i=1; i<argc; i++)
+  {
+    if(!strcmp(argv[i], "-h"))
+    {
+      puts(USAGE);
+      return 0;
+    }
+    else if(!strcmp(argv[i], "-f"))
+    {
+      if(++i < argc)
+        mapname = argv[i];
+      else
+      {
+        puts(USAGE);
+        return 1;
+      }
+    }
+    else if (!strcmp(argv[i], "--occ"))
+    {
+      if (++i < argc)
+      {
+        threshold_occupied = std::atoi(argv[i]);
+        if (threshold_occupied < 1 || threshold_occupied > 100)
+        {
+          ROS_ERROR("threshold_occupied must be between 1 and 100");
+          return 1;
+        }
+
+      }
+      else
+      {
+        puts(USAGE);
+        return 1;
+      }
+    }
+    else if (!strcmp(argv[i], "--free"))
+    {
+      if (++i < argc)
+      {
+        threshold_free = std::atoi(argv[i]);
+        if (threshold_free < 0 || threshold_free > 100)
+        {
+          ROS_ERROR("threshold_free must be between 0 and 100");
+          return 1;
+        }
+
+      }
+      else
+      {
+        puts(USAGE);
+        return 1;
+      }
+    }
+    else
+    {
+      puts(USAGE);
+      return 1;
+    }
+  }
+
+  if (threshold_occupied <= threshold_free)
+  {
+    ROS_ERROR("threshold_free must be smaller than threshold_occupied");
+    return 1;
+  }
+
+  map_server::MapGenerator mg(mapname, "map", threshold_occupied, threshold_free);
+
+  while(!mg.isMapSaved() && ros::ok())
+    ros::spinOnce();
+
+  return 0;
+}
+
+