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Excerpt

本页介绍了sync_set_stcm的用法, 包含如何通过sync_set_stcm服务上传stcm地图到机器。

本页内容

Table of Contents

运行环境准备

  • 软件平台

    • Ubuntu 16.04 AMD
    • 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

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view_slamware_ros_sdk_server_node节点

Code Block
languagecpp
roslaunch slamware_ros_sdk view_slamware_ros_sdk_server_node.launch

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

Code Block
roslaunch slamware_ros_sample sync_set_stcm.launch
//launch文件中有定义默认的map_file_name参数，指明需要上传的地图名称和所在路径。如果不用默认参数，可自行传参。

8.此时观察rviz界面下，如果成功找到地图文件，地图便会被上传，rviz的地图也会同步发生变化。反之则会报错。


代码描述

Code Block
languagecpp
titlesync_set_stcm
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;
}