From 5cc4d833332a33bb1c63dcb32371c7b6756b83c9 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 10 May 2021 15:45:45 +0200
Subject: [PATCH] Added a service to get the full opendrive map as an occupancy
 grid.

---
 CMakeLists.txt            | 10 ++++++----
 package.xml               |  2 ++
 srv/get_opendrive_map.srv |  2 ++
 3 files changed, 10 insertions(+), 4 deletions(-)
 create mode 100644 srv/get_opendrive_map.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e076a60..f0a00f9 100644
--- a/CMakeLists.txt
+++ b/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
 )
 
 ################################################
diff --git a/package.xml b/package.xml
index 8444554..8e6b777 100644
--- a/package.xml
+++ b/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 -->
diff --git a/srv/get_opendrive_map.srv b/srv/get_opendrive_map.srv
new file mode 100644
index 0000000..1105052
--- /dev/null
+++ b/srv/get_opendrive_map.srv
@@ -0,0 +1,2 @@
+---
+nav_msgs/OccupancyGrid opendrive_map
-- 
GitLab