Package edu.tufts.hrilab.movebase

Class ChangeMapComponent

java.lang.Object

edu.tufts.hrilab.diarc.DiarcComponent

edu.tufts.hrilab.movebase.ChangeMapComponent

public class ChangeMapComponent
extends DiarcComponent

This component allows for map swapping functionality

Field Summary

Fields inherited from class edu.tufts.hrilab.diarc.DiarcComponent

executionLoopCycleTime, log, shouldRunExecutionLoop

Constructor Summary

Constructors

Constructor	Description
ChangeMapComponent()	ChangeMapComponent Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	changeMap(String mapAbsPath)	Changes the robot map to the given map.
boolean	changeMap(String mapPackName, String mapRelPackPath)	Changes the robot map to the given map based off a package and relative file path.

Methods inherited from class edu.tufts.hrilab.diarc.DiarcComponent

additionalUsageInfo, createInstance, createInstance, createInstance, createInstance, executionLoop, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, init, main, parseArgs, shutdown, shutdownComponent

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

ChangeMapComponent

public ChangeMapComponent()

ChangeMapComponent Constructor. Simply starts the MapServer ade ROS ndoe

Method Details

changeMap

public boolean changeMap(String mapAbsPath)

Changes the robot map to the given map.

Parameters:

mapAbsPath - The absolute path of the map.yaml file

Returns:

If the action was successful or not

changeMap

public boolean changeMap(String mapPackName,
 String mapRelPackPath)

Changes the robot map to the given map based off a package and relative file path. For an example:

 changeMap("map_package", "map.yaml") 

Calls this example absolute path:

 /home/user/catkin_ws/src/map_package/map.yaml 

Parameters:

mapPackName - The package that contains the map.yaml file

mapRelPackPath - The map.yaml file path relative to the given package.

Returns: