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Excerpt

本页介绍了sync_get_stcm的用法, 包含如何通过sync_get_stcm服务获取stcm地图。

本页内容

Table of Contents

运行环境准备

  • 软件平台

    • Ubuntu 16.04 X86
    • ROS Kinetic

  • 硬件平台

          （以下任选其一）

      • Slamware 套装 （基于Slamware导航方案的用户机器人系统）
      • Apollo/Ares/Athena等底盘系统
      • Mapper

例程下载

ROS-例程下载

编译运行

1.下载Slamware ROS SDK以及ROS例程。

2.将ROS sdk中的src文件夹放入一个空的工作目录，如：catkin_ws。将ROS 例程中的slamware_ros_sample文件夹也放入src文件夹下。使用catkin工具初始化工作空间。

Code Block
cd catkin_ws/src
catkin_init_workspace

3.编译

Code Block
cd ..
catkin_make

4.配置工作空间系统环境

Code Block
source devel/setup.bash

5.启动slamware_ros_sdk_server_node节点

Code Block
roslaunch slamware_ros_sdk slamware_ros_sdk_server_node.launch ip_address:=10.6.128.141
//如果是AP模式，ip_address是192.168.11.1

6.重新打开一个终端窗口，重复第4步，并启动sync_get_stcm_node节点

Code Block
roslaunch slamware_ros_sample sync_get_stcm.launch
//launch文件中有定义默认的map_file_name参数，指明地图保存的路径和文件名称。如果不用默认参数，可自行传参。

7.此时观察slamware_ros_sample下，会生成一个map的文件夹，里面会生成data.map的文件。


代码描述

Code Block
languagecpp
titlesync_get_stcm
int main (int argc, char **argv)
{
  std::string map_file_name;

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

  //get file name from paramter server  
	if (!nh.getParam("map_file_name",map_file_name))
	{
		ROS_ERROR("invalied file path......");
		return 1;
	}
  
  //call service
  if (client.call(srv))
  {
    ROS_INFO("get raw_stcm data success,writing to file......");
    
    //check whether the target folder exists. create one if not
    std::string dir;
    dir = map_file_name.substr(0,map_file_name.rfind("/"));
    if(access(dir.c_str(),0))
    {
      std::string cmd = "mkdir -p " + dir;
      system(cmd.c_str());
    }

		std::ofstream fout(map_file_name, std::ios::out | std::ios::binary);
		fout.write(reinterpret_cast<char *>(srv.response.raw_stcm.data()),(srv.response.raw_stcm.size()) * sizeof(srv.response.raw_stcm.front()));
		fout.close();
    
        ROS_INFO("raw_stcm data size: %zu",srv.response.raw_stcm.size());
		ROS_INFO("save map at %s success......",map_file_name.c_str());
  }
  else
  {
    ROS_ERROR("Failed to get raw_stcm data......");
    return 1;
  }

    return 0;
}