120 lines
3.3 KiB
C++
120 lines
3.3 KiB
C++
/*
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* map_saver
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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 <ORGANIZATION> 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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#include <ros/ros.h>
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#include "map_server/map_generator.h"
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#define USAGE "Usage: \n" \
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" map_saver -h\n"\
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" map_saver [--occ <threshold_occupied>] [--free <threshold_free>] [-f <mapname>] [ROS remapping args]"
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int main(int argc, char** argv)
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{
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ros::init(argc, argv, "map_saver");
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std::string mapname = "map";
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int threshold_occupied = 65;
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int threshold_free = 25;
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for(int i=1; i<argc; i++)
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{
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if(!strcmp(argv[i], "-h"))
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{
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puts(USAGE);
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return 0;
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}
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else if(!strcmp(argv[i], "-f"))
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{
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if(++i < argc)
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mapname = argv[i];
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else
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{
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puts(USAGE);
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return 1;
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}
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}
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else if (!strcmp(argv[i], "--occ"))
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{
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if (++i < argc)
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{
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threshold_occupied = std::atoi(argv[i]);
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if (threshold_occupied < 1 || threshold_occupied > 100)
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{
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ROS_ERROR("threshold_occupied must be between 1 and 100");
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return 1;
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}
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}
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else
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{
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puts(USAGE);
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return 1;
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}
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}
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else if (!strcmp(argv[i], "--free"))
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{
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if (++i < argc)
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{
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threshold_free = std::atoi(argv[i]);
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if (threshold_free < 0 || threshold_free > 100)
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{
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ROS_ERROR("threshold_free must be between 0 and 100");
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return 1;
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}
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}
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else
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{
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puts(USAGE);
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return 1;
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}
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}
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else
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{
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puts(USAGE);
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return 1;
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}
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}
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if (threshold_occupied <= threshold_free)
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{
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ROS_ERROR("threshold_free must be smaller than threshold_occupied");
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return 1;
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}
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map_server::MapGenerator mg(mapname, "map", threshold_occupied, threshold_free);
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while(!mg.isMapSaved() && ros::ok())
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ros::spinOnce();
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return 0;
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}
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