def convert_tmaps(root_dir, ext_old, ext_new):
tmap_files = []
for root, dirs, files in os.walk(root_dir):
for _file in files:
if _file.endswith(ext_old):
tmap_files.append(os.path.join(root, _file))
mm = map_manager()
for f in tmap_files:
print "\n"
rospy.loginfo("CONVERTING " + f)
try:
mm.init_map(f, load_from_file=True)
mm.manager2.write_topological_map(os.path.splitext(f)[0] + ext_new)
except Exception:
rospy.logerr("Unable to convert {}\n{}".format(f, traceback.format_exc()))
#!/usr/bin/env python
import math
import rospy
import sys
import std_msgs.msg
from topological_navigation.topological_node import *
from strands_navigation_msgs.msg import TopologicalNode
from strands_navigation_msgs.msg import TopologicalMap
from mongodb_store.message_store import MessageStoreProxy
from topological_navigation.manager import map_manager
if __name__ == '__main__' :
point_set = sys.argv[1]
rospy.init_node("topological_map_manager")
ps = map_manager(point_set)
rospy.spin()
print "\nFor loading a map from a tmap file:"
print "\t rosrun topological_navigation map_manager.py -f map_filename"
print "\nFor creating a new map:"
print "\t rosrun topological_navigation map_manager.py -n map_name"
print "\n\n"
if __name__ == '__main__' :
load=True
load_from_file = False
if '-h' in sys.argv or '--help' in sys.argv or len(sys.argv) < 2 :
usage()
sys.exit(1)
else:
if '-n' in sys.argv:
ind = sys.argv.index('-n')
_map=sys.argv[ind+1]
print "Creating new Map (%s)" %_map
load=False
elif '-f' in sys.argv:
ind = sys.argv.index('-f')
_map=sys.argv[ind+1]
print "Loading map from tmap file (%s)" %_map
load_from_file=True
else:
_map=sys.argv[1]
rospy.init_node("topological_map_manager")
ps = map_manager(_map,load,load_from_file)
rospy.spin()
print "\t rosrun topological_navigation map_manager.py -f map_filename"
print "\nFor creating a new map:"
print "\t rosrun topological_navigation map_manager.py -n map_name"
print "\n\n"
if __name__ == '__main__':
load = True
load_from_file = False
if '-h' in sys.argv or '--help' in sys.argv or len(sys.argv) < 2:
usage()
sys.exit(1)
else:
if '-n' in sys.argv:
ind = sys.argv.index('-n')
_map = sys.argv[ind + 1]
print "Creating new Map (%s)" % _map
load = False
elif '-f' in sys.argv:
ind = sys.argv.index('-f')
_map = sys.argv[ind + 1]
print "Loading map from tmap file (%s)" % _map
load_from_file = True
else:
_map = sys.argv[1]
rospy.init_node("topological_map_manager")
ps = map_manager()
ps.init_map(_map, load, load_from_file)
rospy.spin()
#########################################################################################################
from topological_navigation.manager import map_manager
def usage():
print "\nPublishes Topological Maps:"
print "\nFor loading a map from the mongodb:"
print "\t rosrun topological_navigation map_manager.py map_name"
print "\nFor creating a new map:"
print "\t rosrun topological_navigation map_manager.py -n map_name"
print "\n\n"
if __name__ == '__main__' :
load=True
if '-h' in sys.argv or '--help' in sys.argv or len(sys.argv) < 2 :
usage()
sys.exit(1)
else:
if '-n' in sys.argv:
ind = sys.argv.index('-n')
point_set=sys.argv[ind+1]
print "Creating new Map (%s)" %point_set
load=False
else:
point_set=sys.argv[1]
rospy.init_node("topological_map_manager")
ps = map_manager(point_set,load)
rospy.spin()