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This page introduces the usage of sync_set_stcm, including how to upload the STCM map to the robot via the sync_set_stcm service.

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Contents

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Environment Setup

software platform

• Ubuntu 20.04 X86
• ROS Noetic

hardware platform

Choose any one below：

• Slamware Kit (User Robot System based on Slamware Solution)
• robot base systems like Apollo/Ares/Athena 

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Sample Code Download

ROS-Sample Download Link

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Compile and Run

1. Download the Slamware ROS SDK along with ROS examples.
2. Place the 'src' folder from the ROS SDK into an empty working directory, such as 'catkin_ws'. Also, put the 'slamware_ros_sample' folder from the ROS examples into the 'src' folder.
   

   Code Block
   language bash
   mkdir -p catkin_ws/src cd catkin_ws/src

3. Initialize the workspace using the Catkin tool.
   

   Code Block
   language bash
   catkin_init_workspace

4. Compile.

   Code Block
   language bash
   cd .. catkin_make

5. Set up workspace environment.
   

   Code Block
   language bash
   source devel/setup.bash

   
   
6. Launch the slamware_ros_sdk_server_node node. Select the corresponding IP according to the mode.

   Code Block
   language cpp
   roslaunch slamware_ros_sdk slamware_ros_sdk_server_node.launch ip_address:=10.6.128.141 // Station mode // If in AP mode, the IP address is 192.168.11.1

7. Open another terminal, repeat step 5, and start the sync_set_stcm_node node.

   Code Block
   language cpp
   roslaunch slamware_ros_sample sync_set_stcm.launch // In the launch file, there is a default definition for the map_file_name parameter, indicating the path and filename where the map is saved. you can adjust parameters manually.

8. At this point, observe the RVIZ interface; if the map file is successfully located, the map will be uploaded, and the map in RVIZ will also change accordingly. Otherwise, an error will occur.
   Image Added
   

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Code Description

int main (int argc, char **argv)
{
  std::string map_file_name;
  long data_size;

  ros::init(argc, argv, "sync_set_stcm_node");
  ros::NodeHandle nh("~");
  ros::ServiceClient client = nh.serviceClient<slamware_ros_sdk::SyncSetStcm>("/slamware_ros_sdk_server_node/sync_set_stcm");
  slamware_ros_sdk::SyncSetStcm srv;

  //get file name from paramter server
	if (!nh.getParam("map_file_name",map_file_name))
	{
		ROS_ERROR("invalied file path......");
		return 1;
	}
	ROS_INFO("map file path: %s",map_file_name.c_str());

  //open map file and get data
  std::ifstream fin(map_file_name ,std::ios::in | std::ios::binary | std::ios::ate);
  if(!fin.is_open())
  {
    ROS_ERROR("open map file failed......");
    return 1;
  }
  ROS_INFO("open map file success,reading data......"); 

  data_size = fin.tellg();
  fin.seekg(0,std::ios::beg);
  srv.request.raw_stcm.resize(data_size);
  fin.read(reinterpret_cast<char *>(srv.request.raw_stcm.data()),data_size*sizeof(srv.request.raw_stcm.front()));
  fin.close();
  ROS_INFO("raw_stcm data size: %zu",srv.request.raw_stcm.size());
  
  //set robot pose
  srv.request.robot_pose.position.x = 0;
  srv.request.robot_pose.position.y = 0;
  srv.request.robot_pose.position.z = 0;
  srv.request.robot_pose.orientation.x = 0;
  srv.request.robot_pose.orientation.y = 0;
  srv.request.robot_pose.orientation.z = 0;
  srv.request.robot_pose.orientation.w = 1;
  
  //call service
	if (client.call(srv))
  {
		ROS_INFO("set stcm map success......");
  }
  else
  {
    ROS_ERROR("Failed to set stcm map......");
    return 1;
  }

    return 0;
}