Feature/add map server #64
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@adamantivm the code was rebased after merging #63. |
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adamantivm
approved these changes
Mar 30, 2017
| @@ -207,6 +210,7 @@ protected void init(NodeMainExecutor nodeMainExecutor) { | |||
| configureParameterServer(); | |||
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| startExtrinsicsPublisherNodes(); | |||
| startMapServer(); | |||
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name nit: startMapServerNode (for consistency)
| @@ -316,6 +320,16 @@ private void startExtrinsicsPublisherNodes() { | |||
| mNodeMainExecutor.execute(mRobotExtrinsicsTfPublisherNode, nodeConfiguration); | |||
| } | |||
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| private void startMapServer() { | |||
| // Create ROS node for extrinsics publisher node | |||
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This PR adds a minimal implementation for a map server, generating and publishing an empty map. The empty map generator can be replaced by something that reads an actual map image and fills the required data. It should be easy to replace the current one by sticking to the defined interface.
This is built on top of #63 to avoid generating unnecessary conflicts; it would be ideal to merge the other PR before reviewing this one.