Skip to content

feat: allow saving map as pcd via service call #9

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
plusk01 wants to merge 1 commit into
base: master
Choose a base branch
from
Open

feat: allow saving map as pcd via service call #9

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
21 changes: 21 additions & 0 deletions src/laserMappingNode.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,18 +9,22 @@
#include <queue>
#include <thread>
#include <chrono>
#include <sstream>
#include <string>

//ros lib
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <nav_msgs/Odometry.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
#include <std_srvs/Trigger.h>

//pcl lib
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>

//local lib
#include "laserMappingClass.h"
Expand Down Expand Up @@ -111,6 +115,21 @@ void laser_mapping(){
}
}

bool saveMapCallback(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_map = laserMapping.getMap();

std::stringstream ss;
ss << "cloud_" << ros::Time::now() << ".pcd";

pcl::PCDWriter writer;
writer.writeBinary(ss.str(), *pc_map);

res.success = true;
res.message = "Saved to " + ss.str();
return true;
}

int main(int argc, char **argv)
{
ros::init(argc, argv, "main");
Expand Down Expand Up @@ -140,6 +159,8 @@ int main(int argc, char **argv)
ros::Subscriber subLaserCloud = nh.subscribe<sensor_msgs::PointCloud2>("/velodyne_points_filtered", 100, velodyneHandler);
ros::Subscriber subOdometry = nh.subscribe<nav_msgs::Odometry>("/odom", 100, odomCallback);

ros::ServiceServer srv_save = nh.advertiseService("save_map", saveMapCallback);

map_pub = nh.advertise<sensor_msgs::PointCloud2>("/map", 100);
std::thread laser_mapping_process{laser_mapping};

Expand Down