[Personalrobots-commit] SF.net SVN: personalrobots:[23765] pkg/trunk

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

Revision: 23765
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23765&view=rev
Author:   isucan
Date:     2009-09-03 15:43:07 +0000 (Thu, 03 Sep 2009)

Log Message:
-----------
added map reset service

Modified Paths:
--------------
    pkg/trunk/mapping/collision_map/manifest.xml
    pkg/trunk/mapping/collision_map/src/collision_map_self_occ.cpp
    pkg/trunk/stacks/manipulation_common/mapping_msgs/manifest.xml

Added Paths:
-----------
    pkg/trunk/stacks/manipulation_common/mapping_msgs/srv/
    pkg/trunk/stacks/manipulation_common/mapping_msgs/srv/Empty.srv

Modified: pkg/trunk/mapping/collision_map/manifest.xml
===================================================================
--- pkg/trunk/mapping/collision_map/manifest.xml	2009-09-03 14:40:55 UTC (rev 23764)
+++ pkg/trunk/mapping/collision_map/manifest.xml	2009-09-03 15:43:07 UTC (rev 23765)
@@ -9,12 +9,12 @@
   <review status="experimental" notes="beta"/>
 
   <depend package="roscpp" />
-  <depend package="std_msgs" />
   <depend package="tf" />
   <depend package="visualization_msgs" />
   <depend package="tabletop_msgs" />
   <depend package="tabletop_srvs" />
   <depend package="mapping_msgs" />
+  <depend package="std_msgs" />
   <depend package="point_cloud_mapping" />
   <depend package="robot_self_filter" />
 </package>

Modified: pkg/trunk/mapping/collision_map/src/collision_map_self_occ.cpp
===================================================================
--- pkg/trunk/mapping/collision_map/src/collision_map_self_occ.cpp	2009-09-03 14:40:55 UTC (rev 23764)
+++ pkg/trunk/mapping/collision_map/src/collision_map_self_occ.cpp	2009-09-03 15:43:07 UTC (rev 23765)
@@ -35,6 +35,7 @@
 /** \author Ioan Sucan */
 
 #include <ros/ros.h>
+#include <mapping_msgs/Empty.h>
 #include <sensor_msgs/PointCloud.h>
 #include <mapping_msgs/CollisionMap.h>
 #include <tf/transform_listener.h>
@@ -92,6 +93,8 @@
 	    frames.push_back(robotFrame_);
 	mnCloud_->setTargetFrame(frames);
 	mnCloudIncremental_->setTargetFrame(frames);
+
+	resetService_ = nh_.advertiseService("~reset", &CollisionMapperOcc::reset, this);
     }
     
     ~CollisionMapperOcc(void)
@@ -319,6 +322,14 @@
 	}
     }
     
+    bool reset(mapping_msgs::Empty::Request &req, mapping_msgs::Empty::Response &res)
+    {
+	mapProcessing_.lock();
+	currentMap_.clear();
+	mapProcessing_.unlock();
+	return true;
+    }
+    
     bool transformMap(CMap &map, const roslib::Header &from, const roslib::Header &to)
     {
 	tf::Stamped<btTransform> transf;
@@ -412,6 +423,7 @@
     ros::Publisher                                cmapPublisher_;
     ros::Publisher                                cmapUpdPublisher_;
     ros::Publisher                                occPublisher_;
+    ros::ServiceServer                            resetService_;
     roslib::Header                                header_;
     bool                                          publishOcclusion_;
     

Modified: pkg/trunk/stacks/manipulation_common/mapping_msgs/manifest.xml
===================================================================
--- pkg/trunk/stacks/manipulation_common/mapping_msgs/manifest.xml	2009-09-03 14:40:55 UTC (rev 23764)
+++ pkg/trunk/stacks/manipulation_common/mapping_msgs/manifest.xml	2009-09-03 15:43:07 UTC (rev 23765)
@@ -14,7 +14,7 @@
   <depend package="geometry_msgs"/>
 
   <export>
-    <cpp cflags="-I${prefix}/msg/cpp"/>
+    <cpp cflags="-I${prefix}/msg/cpp -I${prefix}/srv/cpp"/>
   </export>
 
 </package>

Added: pkg/trunk/stacks/manipulation_common/mapping_msgs/srv/Empty.srv
===================================================================
--- pkg/trunk/stacks/manipulation_common/mapping_msgs/srv/Empty.srv	                        (rev 0)
+++ pkg/trunk/stacks/manipulation_common/mapping_msgs/srv/Empty.srv	2009-09-03 15:43:07 UTC (rev 23765)
@@ -0,0 +1,3 @@
+std_msgs/Empty req
+---
+std_msgs/Empty res


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