map_saver

#!/usr/bin/python
import roslaunch
import rospy
import rospkg
import os

if (__name__ == "__main__"):
    #config
    #rosrun <package> <executable>
    #node_name
    package = 'map_server'
    executable = 'map_saver'
    node_name = 'map_saver_node'

    #Ask for map name
    map_name = raw_input("\nPlease enter new map name: ")

    #GetPath
    package_path = rospkg.RosPack().get_path('mcr_default_env_config')
    #create directory
    os.mkdir(package_path + "/" + map_name)

    #Complete path ...
    #Saving map information as map.png and map.yaml
    destination_path = package_path + "/" + map_name
    print "saving new map in " + destination_path

    #Setup Node
    node = roslaunch.core.Node(package=package, node_type=executable, name=node_name, args=" -f " + destination_path + "/map")
    launch = roslaunch.scriptapi.ROSLaunch()
    #Start Node
    launch.start()
    #process = launch.launch(node)
    rospy.sleep(3)