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OctoMap / octomap_mapping

ROS stack for mapping with OctoMap, contains octomap_server package
http://www.ros.org/wiki/octomap_mapping
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Load map file from rosparam #25

Closed ompugao closed 8 years ago

ompugao commented 8 years ago

octomap server node will load a map file when an user set rosparam "map_file", in order to enable octomap_server_nodelet to load a map file. the old api for loading map using argv (in octomap_server_node) is now disabled. maybe i need to keep it as it is.

ahornung commented 8 years ago

Is there a specific reason why you want to remove the argument? octomap_server is intentionally designed like the ROS (2D) map_server in that way.

ompugao commented 8 years ago

I'm just worried that the node loads a mapfile twice when the user set both rosparam and the argument. but the compatibility is given priority over it. i removed the last commit.

ompugao commented 8 years ago

any other suggestions?

ahornung commented 8 years ago

You are right, loading different mapfiles will definietly be confusing. If there is a definite need for loading via rosparam then IMO the argument should have a stronger preference over the rosparam. So my suggestions would be: If there is only one supplied it will be used to load the file. If both are supplied there should be a warning and the argument used.

ompugao commented 8 years ago

I agree with you. I reflected your suggestions. could you check the change?

ahornung commented 8 years ago

Looking good, thanks!

ompugao commented 8 years ago

thanks!