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python: encapsulate map_server or import image_loader

asked 2013-01-30 10:51:45 -0500

karl_corobot gravatar image

updated 2014-01-28 17:15:02 -0500

ngrennan gravatar image

I'm working on a project where we'd like to provide some additional waypoint data along with the the OccupancyGrid that we would usually just get from a map_server. The way I've written it currently is in 2 nodes, a map_server node and my own projectX_map_server node. The projectX_map_server node gets the static_map service from map_server and republishes it along with the extra data we want to include.

This isn't a great design and is pretty confusing; for example if I do a 'rosnode list' it shows by projectX_map_server and map_server, other developers are unsure on which they should be asking for data (or should they interact with both?).

I'd really like a way to encapsulate the map_server entirely, because I really want the automagical image loading. Another guy on the team said I could just include the image_loader.h as a library to get the map loading functionality but I'm writing a python node not a c++ node.

Any ideas?

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answered 2013-08-27 11:48:54 -0500

tfoote gravatar image

If your problem is just user confusing you could simply rename the map_server to something more obviously upstream and have your map server take the standard name.

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Asked: 2013-01-30 10:51:45 -0500

Seen: 317 times

Last updated: Aug 27 '13