ROS_Robot/waterplus_map_tools
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load waypoints from HOME

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This commit is contained in:
zhangwanjie 2020-04-20 18:27:45 +08:00
parent 73ba4a83ec
commit f6db939d3a
4 changed files with 39 additions and 12 deletions
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4
launch/add_waypoint_warehousing.launch
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@ -9,8 +9,6 @@
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /map /base_link 100"/>
<!-- Map tools -->
<node pkg="waterplus_map_tools" type="wp_edit_node" name="wp_edit_node" output="screen">
<param name="load" type="string" value="/home/robot/waypoints.xml"/>
</node>
<node pkg="waterplus_map_tools" type="wp_edit_node" name="wp_edit_node" output="screen" />
</launch>

18
src/wp_edit_node.cpp
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@ -626,14 +626,28 @@ int main(int argc, char** argv)
{
ros::init(argc, argv, "wp_edit_node");
ros::NodeHandle n_param("~");
std::string strLoadFile;
n_param.param<std::string>("load", strLoadFile, "");
char const* home = getenv("HOME");
strLoadFile = home;
strLoadFile += "/waypoints.xml";
ros::NodeHandle n_param("~");
std::string strParamFile;
n_param.param<std::string>("load", strParamFile, "");
if(strParamFile.length() > 0)
{
strLoadFile = strParamFile;
}
if(strLoadFile.length() > 0)
{
ROS_INFO("Load waypoints from file : %s",strLoadFile.c_str());
LoadWaypointsFromFile(strLoadFile);
}
else
{
ROS_WARN("strLoadFile is empty. Failed to load waypoints!");
}
ros::NodeHandle nh;

19
src/wp_manager.cpp
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@ -391,14 +391,29 @@ int main(int argc, char** argv)
{
ros::init(argc, argv, "wp_waypoint_manager");
ros::NodeHandle n_param("~");
std::string strLoadFile;
n_param.param<std::string>("load", strLoadFile, "");
char const* home = getenv("HOME");
strLoadFile = home;
strLoadFile += "/waypoints.xml";
ros::NodeHandle n_param("~");
std::string strParamFile;
n_param.param<std::string>("load", strParamFile, "");
if(strParamFile.length() > 0)
{
strLoadFile = strParamFile;
}
if(strLoadFile.length() > 0)
{
ROS_INFO("Load waypoints from file : %s",strLoadFile.c_str());
LoadWaypointsFromFile(strLoadFile);
}
else
{
ROS_WARN("strLoadFile is empty. Failed to load waypoints!");
}
ros::NodeHandle nh;
marker_pub = nh.advertise<visualization_msgs::Marker>("waypoints_marker", 100);

10
src/wp_saver.cpp
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@ -45,11 +45,11 @@ int main(int argc, char** argv)
ros::ServiceClient cliSave = nh.serviceClient<waterplus_map_tools::SaveWaypoints>("/waterplus/save_waypoints");
waterplus_map_tools::SaveWaypoints srvS;
char basePath[1024];
memset(basePath, '\0', sizeof(basePath));
getcwd(basePath, 999);
std::string base_path(basePath);
srvS.request.filename = base_path + "/waypoints.xml";
std::string strSaveFile;
char const* home = getenv("HOME");
strSaveFile = home;
strSaveFile += "/waypoints.xml";
srvS.request.filename = strSaveFile;
for(int i=1; i<argc; i++)
{