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fix(elevation_map_loader): remove and create map bagfile if it cannot be loaded (backport #1772) #218

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merged 1 commit into from
Dec 23, 2022
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fix(elevation_map_loader): remove and create map bagfile if it cannot be loaded (backport #1772) #218

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1 change: 1 addition & 0 deletions perception/elevation_map_loader/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
<depend>pcl_conversions</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>rosbag2_storage_default_plugins</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
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22 changes: 20 additions & 2 deletions perception/elevation_map_loader/src/elevation_map_loader_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@
#define EIGEN_MPL2_ONLY
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <rosbag2_storage_default_plugins/sqlite/sqlite_statement_wrapper.hpp>

ElevationMapLoaderNode::ElevationMapLoaderNode(const rclcpp::NodeOptions & options)
: Node("elevation_map_loader", options)
Expand Down Expand Up @@ -102,8 +103,25 @@ void ElevationMapLoaderNode::publish()
RCLCPP_INFO(
this->get_logger(), "Load elevation map from: %s",
data_manager_.elevation_map_path_->c_str());
grid_map::GridMapRosConverter::loadFromBag(
*data_manager_.elevation_map_path_, "elevation_map", elevation_map_);

// Check if bag can be loaded
bool is_bag_loaded = false;
try {
is_bag_loaded = grid_map::GridMapRosConverter::loadFromBag(
*data_manager_.elevation_map_path_, "elevation_map", elevation_map_);
} catch (rosbag2_storage_plugins::SqliteException & e) {
is_bag_loaded = false;
}
if (!is_bag_loaded) {
// Delete directory including elevation map if bag is broken
RCLCPP_ERROR(
this->get_logger(), "Try to loading bag, but bag is broken. Remove %s",
data_manager_.elevation_map_path_->c_str());
std::filesystem::remove_all(data_manager_.elevation_map_path_->c_str());
// Create elevation map from pointcloud map if bag is broken
RCLCPP_INFO(this->get_logger(), "Create elevation map from pointcloud map ");
createElevationMap();
}
}

elevation_map_.setFrameId(map_frame_);
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