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Stop publishing messages of lane namespace #151

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merged 1 commit into from
Dec 4, 2015
Merged

Stop publishing messages of lane namespace #151

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56 changes: 30 additions & 26 deletions ros/src/data/packages/map_db/nodes/vector_map_query/vector_map_query.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -683,6 +683,8 @@ rosrun map_file vector_map_loader <csv files>

ros::init(argc, argv, "sample_vector_map");
ros::NodeHandle n;
bool publish_lane;
n.param<bool>("/sample_vector_map/publish_lane", publish_lane, false);
ros::Publisher pub = n.advertise<visualization_msgs::MarkerArray>("/vector_map", 1000, true);
ros::Publisher stat_publisher = n.advertise<std_msgs::Bool>("/vmap_stat", 100);;
std_msgs::Bool vmap_stat_msg;
Expand Down Expand Up @@ -951,36 +953,38 @@ rosrun map_file vector_map_loader <csv files>
marker.id = 0;

// road data
if(lanes.size() > 0 && dtlanes.size() <= 0) {
std::cerr << "error: dtlane.csv is not loaded.\n"
<< "\tlane.csv needs dtlane.csv"
<< std::endl;
std::exit(1);
}
marker.ns = "lane";
for (i=0; i<lanes.size(); i++) {
if (lanes[i].lnid <= 0) {
continue;
if (publish_lane) {
if(lanes.size() > 0 && dtlanes.size() <= 0) {
std::cerr << "error: dtlane.csv is not loaded.\n"
<< "\tlane.csv needs dtlane.csv"
<< std::endl;
std::exit(1);
}
int did = lanes[i].did;
int pid = dtlanes[did].pid;
double ox, oy, oz, ow;
marker.ns = "lane";
for (i=0; i<lanes.size(); i++) {
if (lanes[i].lnid <= 0) {
continue;
}
int did = lanes[i].did;
int pid = dtlanes[did].pid;
double ox, oy, oz, ow;

marker.type = visualization_msgs::Marker::CUBE;
marker.type = visualization_msgs::Marker::CUBE;

ox = 0.0;
oy = 0.0;
oz = sin(dtlanes[did].dir / 2);
ow = cos(dtlanes[did].dir / 2);
ox = 0.0;
oy = 0.0;
oz = sin(dtlanes[did].dir / 2);
ow = cos(dtlanes[did].dir / 2);

if((lanes[i].span == 0 || (dtlanes[did].lw + dtlanes[did].rw) == 0)) continue;
set_marker_data(&marker,
pointclasses[pid].bx - lanes[i].span/2, pointclasses[pid].ly - (dtlanes[did].lw + dtlanes[did].rw)/2, pointclasses[pid].h,
ox, oy, oz, ow,
lanes[i].span, dtlanes[did].lw + dtlanes[did].rw, 0.1,
0.5, 0, 0, 0.3);

push_marker(&marker, &marker_array);
if((lanes[i].span == 0 || (dtlanes[did].lw + dtlanes[did].rw) == 0)) continue;
set_marker_data(&marker,
pointclasses[pid].bx - lanes[i].span/2, pointclasses[pid].ly - (dtlanes[did].lw + dtlanes[did].rw)/2, pointclasses[pid].h,
ox, oy, oz, ow,
lanes[i].span, dtlanes[did].lw + dtlanes[did].rw, 0.1,
0.5, 0, 0, 0.3);

push_marker(&marker, &marker_array);
}
}

// pole
Expand Down
56 changes: 30 additions & 26 deletions ros/src/data/packages/map_file/nodes/vector_map_loader/vector_map_loader.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -682,6 +682,8 @@ rosrun map_file vector_map_loader <csv files>

ros::init(argc, argv, "sample_vector_map");
ros::NodeHandle n;
bool publish_lane;
n.param<bool>("/sample_vector_map/publish_lane", publish_lane, false);
ros::Publisher pub = n.advertise<visualization_msgs::MarkerArray>("/vector_map", 1000, true);
ros::Publisher stat_publisher = n.advertise<std_msgs::Bool>("/vmap_stat", 100);;
std_msgs::Bool vmap_stat_msg;
Expand Down Expand Up @@ -987,36 +989,38 @@ rosrun map_file vector_map_loader <csv files>
marker.id = 0;

// road data
if(lanes.size() > 0 && dtlanes.size() <= 0) {
std::cerr << "error: dtlane.csv is not loaded.\n"
<< "\tlane.csv needs dtlane.csv"
<< std::endl;
std::exit(1);
}
marker.ns = "lane";
for (i=0; i<lanes.size(); i++) {
if (lanes[i].lnid <= 0) {
continue;
if (publish_lane) {
if(lanes.size() > 0 && dtlanes.size() <= 0) {
std::cerr << "error: dtlane.csv is not loaded.\n"
<< "\tlane.csv needs dtlane.csv"
<< std::endl;
std::exit(1);
}
int did = lanes[i].did;
int pid = dtlanes[did].pid;
double ox, oy, oz, ow;
marker.ns = "lane";
for (i=0; i<lanes.size(); i++) {
if (lanes[i].lnid <= 0) {
continue;
}
int did = lanes[i].did;
int pid = dtlanes[did].pid;
double ox, oy, oz, ow;

marker.type = visualization_msgs::Marker::CUBE;

marker.type = visualization_msgs::Marker::CUBE;
ox = 0.0;
oy = 0.0;
oz = sin(dtlanes[did].dir / 2);
ow = cos(dtlanes[did].dir / 2);

ox = 0.0;
oy = 0.0;
oz = sin(dtlanes[did].dir / 2);
ow = cos(dtlanes[did].dir / 2);
if((lanes[i].span == 0 || (dtlanes[did].lw + dtlanes[did].rw) == 0)) continue;
set_marker_data(&marker,
pointclasses[pid].bx - lanes[i].span/2, pointclasses[pid].ly - (dtlanes[did].lw + dtlanes[did].rw)/2, pointclasses[pid].h,
ox, oy, oz, ow,
lanes[i].span, dtlanes[did].lw + dtlanes[did].rw, 0.1,
0.5, 0, 0, 0.3);

if((lanes[i].span == 0 || (dtlanes[did].lw + dtlanes[did].rw) == 0)) continue;
set_marker_data(&marker,
pointclasses[pid].bx - lanes[i].span/2, pointclasses[pid].ly - (dtlanes[did].lw + dtlanes[did].rw)/2, pointclasses[pid].h,
ox, oy, oz, ow,
lanes[i].span, dtlanes[did].lw + dtlanes[did].rw, 0.1,
0.5, 0, 0, 0.3);

push_marker(&marker, &marker_array);
push_marker(&marker, &marker_array);
}
}

// pole
Expand Down