def _save_map_request(self, req):
if req.directory:
map_path = req.directory + "/"
else:
map_path = os.path.expanduser(
'~') + '/.pal/' + self._robot + '_maps/'
map_name = 'config'
shutil.rmtree(map_path + map_name, ignore_errors=True)
os.makedirs(map_path + map_name)
rospy.logdebug("Saving map with map_name '" + map_name +
"' and map_path '" + map_path + "'")
# Save map (image and meta-data).
filename = 'submap_0'
pal_launch.execute_command('rosrun', 'map_server', 'map_saver', '-f',
filename)
# Update /mmap/numberOfSubMaps parameter
# [from saverFunctions::configSaver]
rospy.set_param('/mmap/numberOfSubMaps', 1)
map_data_file = os.path.join(map_path + map_name + '/', 'mmap.yaml')
if rospy.has_param('/mmap'):
rosparam.dump_params(map_data_file, '/mmap')
else:
try:
os.remove(map_data_file)
except OSError:
pass
map_data_file = None
# Move map to maps folder
# (this is required to have the image relative path in map.yaml):
shutil.move(filename + '.pgm', map_path + map_name)
shutil.move(filename + '.yaml', map_path + map_name + '/map.yaml')
# Create nice map
shutil.copyfile(os.path.join(map_path + map_name, 'submap_0.pgm'),
os.path.join(map_path + map_name, 'map.pgm'))
with open(os.path.join(map_path + map_name, 'transformation.xml'),
'w') as transf:
transf.write(DEFAULT_TRANSFORMATION)
# Set permisions
self._chmod(map_path, 0777)
# Save initial pose of the robot in the map
rospack = rospkg.RosPack()
shutil.copyfile(
rospack.get_path('pal_navigation_sm') + '/config/pose.yaml',
map_path + '../pose.yaml')
return SaveMapResponse(True, map_name, map_path,
'Map saved: %s' % map_name)
def _save_map_request(self, req):
if req.directory:
map_path = req.directory + "/"
else:
map_path = os.path.expanduser('~') + '/.pal/' + self._robot + '_maps/'
map_name = 'config'
shutil.rmtree(map_path+map_name, ignore_errors=True)
os.makedirs(map_path+map_name)
rospy.logdebug("Saving map with map_name '" + map_name + "' and map_path '" + map_path + "'")
# Save map (image and meta-data).
filename = 'submap_0'
pal_launch.execute_command('rosrun', 'map_server', 'map_saver', '-f', filename)
# Update /mmap/numberOfSubMaps parameter
# [from saverFunctions::configSaver]
rospy.set_param('/mmap/numberOfSubMaps', 1)
map_data_file = os.path.join(map_path+map_name+'/', 'mmap.yaml')
if rospy.has_param('/mmap'):
rosparam.dump_params(map_data_file, '/mmap')
else:
try:
os.remove(map_data_file)
except OSError:
pass
map_data_file = None
# Move map to maps folder
# (this is required to have the image relative path in map.yaml):
shutil.move(filename + '.pgm', map_path+map_name)
shutil.move(filename + '.yaml',map_path+map_name+'/map.yaml')
# Create nice map
shutil.copyfile(os.path.join(map_path+map_name, 'submap_0.pgm'), os.path.join(map_path+map_name, 'map.pgm'))
with open(os.path.join(map_path+map_name, 'transformation.xml'), 'w') as transf:
transf.write(DEFAULT_TRANSFORMATION)
# Set permisions
self._chmod(map_path, 0777)
# Save initial pose of the robot in the map
rospack = rospkg.RosPack()
shutil.copyfile(rospack.get_path('pal_navigation_sm') + '/config/pose.yaml', map_path+'../pose.yaml')
return SaveMapResponse(True, map_name, map_path, 'Map saved: %s' % map_name)