Added a service to get the full opendrive map as an occupancy grid.

CMakeLists.txt

@@ -8,6 +8,7 @@ project(iri_adc_msgs)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  nav_msgs
   actionlib_msgs
   geometry_msgs
   message_generation
@@ -57,11 +58,12 @@ add_message_files(
 )
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
+add_service_files(
+  FILES
+  get_opendrive_map.srv
 #   Service1.srv
 #   Service2.srv
-# )
+)
 
 ## Generate actions in the 'action' folder
 add_action_files(
@@ -73,7 +75,7 @@ add_action_files(
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
-  actionlib_msgs geometry_msgs std_msgs
+  nav_msgs actionlib_msgs geometry_msgs std_msgs
 )
 
 ################################################

package.xml

@@ -56,9 +56,11 @@
   <build_export_depend>actionlib_msgs</build_export_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>nav_msgs</build_export_depend>
   <exec_depend>actionlib_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

srv/get_opendrive_map.srv

+---
+nav_msgs/OccupancyGrid opendrive_map