[Personalrobots-commit] SF.net SVN: personalrobots: [859] pkg/trunk

[<is...@us...>]

Revision: 859
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=859&view=rev
Author:   isucan
Date:     2008-06-19 16:33:52 -0700 (Thu, 19 Jun 2008)

Log Message:
-----------
initial commit for a 3D map construction node

Added Paths:
-----------
    pkg/trunk/mapping/
    pkg/trunk/mapping/world_3d_map/
    pkg/trunk/mapping/world_3d_map/Makefile
    pkg/trunk/mapping/world_3d_map/bin/
    pkg/trunk/mapping/world_3d_map/manifest.xml
    pkg/trunk/mapping/world_3d_map/src/
    pkg/trunk/mapping/world_3d_map/src/Makefile
    pkg/trunk/mapping/world_3d_map/src/world_3d_map.cpp

Added: pkg/trunk/mapping/world_3d_map/Makefile
===================================================================
--- pkg/trunk/mapping/world_3d_map/Makefile	                        (rev 0)
+++ pkg/trunk/mapping/world_3d_map/Makefile	2008-06-19 23:33:52 UTC (rev 859)
@@ -0,0 +1,2 @@
+SUBDIRS = src
+include $(shell rospack find mk)/recurse_subdirs.mk

Added: pkg/trunk/mapping/world_3d_map/manifest.xml
===================================================================
--- pkg/trunk/mapping/world_3d_map/manifest.xml	                        (rev 0)
+++ pkg/trunk/mapping/world_3d_map/manifest.xml	2008-06-19 23:33:52 UTC (rev 859)
@@ -0,0 +1,12 @@
+<package>
+<description>3D Map Construction</description>
+<author>Willow Garage</author>
+<license>BSD</license>
+<depend package="roscpp" />
+<depend package="std_msgs" />
+<depend package="std_srvs" />
+<depend package="xmlparam" />
+<export>
+  <cpp cflags="-I${prefix}/msg/cpp"/>
+</export>
+</package>

Added: pkg/trunk/mapping/world_3d_map/src/Makefile
===================================================================
--- pkg/trunk/mapping/world_3d_map/src/Makefile	                        (rev 0)
+++ pkg/trunk/mapping/world_3d_map/src/Makefile	2008-06-19 23:33:52 UTC (rev 859)
@@ -0,0 +1,4 @@
+SRC = world_3d_map.cpp
+OUT = ../bin/world_3d_map
+PKG = world_3d_map
+include $(shell rospack find mk)/node.mk

Added: pkg/trunk/mapping/world_3d_map/src/world_3d_map.cpp
===================================================================
--- pkg/trunk/mapping/world_3d_map/src/world_3d_map.cpp	                        (rev 0)
+++ pkg/trunk/mapping/world_3d_map/src/world_3d_map.cpp	2008-06-19 23:33:52 UTC (rev 859)
@@ -0,0 +1,84 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+* 
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+* 
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+* 
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+* 
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/**
+
+@mainpage
+
+@htmlinclude manifest.html
+
+@b world_3d_map is a node capable of building 3D maps out of point
+cloud data. The code is incomplete: it currently only forwards cloud
+data.
+
+**/
+
+#include "ros/node.h"
+#include "std_msgs/PointCloudFloat32.h"
+using namespace std_msgs;
+
+class World3DMap : public ros::node
+{
+public:
+
+    World3DMap(void) : ros::node("World3DMap")
+    {
+	subscribe("full_cloud", cloud, &World3DMap::pointCloudCallback);
+	advertise<PointCloudFloat32>("world_3d_map");
+    }
+    
+    void pointCloudCallback(void)
+    {
+	printf("received %d points\n", cloud.pts_size);	
+	// this should do something smarter here.... 
+	// build a 3D representation of the world
+	publish("world_3d_map", cloud);
+    }
+    
+private:
+    
+    PointCloudFloat32 cloud;
+    
+};
+
+
+int main(int argc, char **argv)
+{  
+    ros::init(argc, argv);
+
+    World3DMap map;
+    map.spin();
+    map.shutdown();
+    return 0;    
+}


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