41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
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#include "ros/ros.h"
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#include "ros/console.h"
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#include "map_server/map_server.h"
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#define USAGE "\nUSAGE: map_server <map.yaml>\n" \
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" map.yaml: map description file\n" \
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"DEPRECATED USAGE: map_server <map> <resolution>\n" \
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" map: image file to load\n" \
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" resolution: map resolution [meters/pixel]"
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int main(int argc, char** argv)
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{
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ros::init(argc, argv, "map_server", ros::init_options::AnonymousName);
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// ros::init(argc, argv, "map_server");
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ros::NodeHandle nh("~");
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if (argc != 3 && argc != 2)
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{
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ROS_ERROR("%s", USAGE);
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exit(-1);
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}
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if (argc != 2)
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{
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ROS_WARN("Using deprecated map server interface. Please switch to new interface.");
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}
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std::string fname(argv[1]);
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double res = (argc == 2) ? 0.0 : atof(argv[2]);
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try
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{
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map_server::MapServer* map_sever_ptr = new map_server::MapServer(fname, res);
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ros::spin();
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}
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catch (std::runtime_error& e)
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{
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ROS_ERROR("map_server exception: %s", e.what());
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return -1;
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}
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return 0;
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}
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