From 639810707ddb366f37a6254d5f9514938c785001 Mon Sep 17 00:00:00 2001
From: Jihoon Lee <jihoonlee.in@gmail.com>
Date: Fri, 26 Apr 2013 18:56:46 +0900
Subject: [PATCH 1/3] Add Service based OccupancyGrid client

---
 src/maps/OccupancyGridSrvClient.js | 54 ++++++++++++++++++++++++++++++
 1 file changed, 54 insertions(+)
 create mode 100644 src/maps/OccupancyGridSrvClient.js

diff --git a/src/maps/OccupancyGridSrvClient.js b/src/maps/OccupancyGridSrvClient.js
new file mode 100644
index 0000000..4ca0642
--- /dev/null
+++ b/src/maps/OccupancyGridSrvClient.js
@@ -0,0 +1,54 @@
+/**
+ * @author Jihoon Lee- jihoonlee.in@gmail.com 
+ *
+ * - Most Implementation is copied from OccupancyGridClient implemented by Russel Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A map that listens to a given occupancy grid topic.
+ *
+ * Emits the following events:
+ *   * 'change' - there was an update or change in the map
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *   * ros - the ROSLIB.Ros connection handle
+ *   * topic (optional) - the map topic to listen to
+ *   * rootObject (optional) - the root object to add this marker to
+ *   * continuous (optional) - if the map should be continuously loaded (e.g., for SLAM)
+ */
+ROS2D.OccupancyGridSrvClient = function(options) {
+  var that = this;
+  options = options || {};
+  var ros = options.ros;
+  var service = options.service || '/static_map';
+  this.continuous = options.continuous;
+  this.rootObject = options.rootObject || new createjs.Container();
+
+  // current grid that is displayed
+  this.currentGrid = null;
+
+  // Setting up to the service
+  var rosService = new ROSLIB.Service({
+    ros : ros,
+    name : service,
+    serviceType : 'nav_msgs/GetMap',
+    compression : 'png'
+  });
+
+  rosService.callService(new ROSLIB.ServiceRequest(),function(response) {
+    // check for an old map
+    if (that.currentGrid) {
+      that.rootObject.removeChild(that.currentGrid);
+    }
+
+    that.currentGrid = new ROS2D.OccupancyGrid({
+      message : response.map
+    });
+    that.rootObject.addChild(that.currentGrid);
+
+    that.emit('change',that.currentGrid.origin);
+
+  });
+};
+ROS2D.OccupancyGridSrvClient.prototype.__proto__ = EventEmitter2.prototype;

From 0ce77db8d65e9bef39005020e570934c72728af2 Mon Sep 17 00:00:00 2001
From: Jihoon Lee <jihoonlee.in@gmail.com>
Date: Fri, 26 Apr 2013 20:28:29 +0900
Subject: [PATCH 2/3] Polishing

---
 src/maps/OccupancyGridSrvClient.js | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/maps/OccupancyGridSrvClient.js b/src/maps/OccupancyGridSrvClient.js
index 4ca0642..eee153d 100644
--- a/src/maps/OccupancyGridSrvClient.js
+++ b/src/maps/OccupancyGridSrvClient.js
@@ -13,16 +13,14 @@
  * @constructor
  * @param options - object with following keys:
  *   * ros - the ROSLIB.Ros connection handle
- *   * topic (optional) - the map topic to listen to
+ *   * service (optional) - the map topic to listen to
  *   * rootObject (optional) - the root object to add this marker to
- *   * continuous (optional) - if the map should be continuously loaded (e.g., for SLAM)
  */
 ROS2D.OccupancyGridSrvClient = function(options) {
   var that = this;
   options = options || {};
   var ros = options.ros;
   var service = options.service || '/static_map';
-  this.continuous = options.continuous;
   this.rootObject = options.rootObject || new createjs.Container();
 
   // current grid that is displayed
@@ -47,7 +45,7 @@ ROS2D.OccupancyGridSrvClient = function(options) {
     });
     that.rootObject.addChild(that.currentGrid);
 
-    that.emit('change',that.currentGrid.origin);
+    that.emit('change');
 
   });
 };

From 1b751bf01b462aba204b0c4b538f6cf2c09b7a10 Mon Sep 17 00:00:00 2001
From: Jihoon Lee <jihoonlee.in@gmail.com>
Date: Fri, 26 Apr 2013 20:29:37 +0900
Subject: [PATCH 3/3] Change notes

---
 src/maps/OccupancyGridSrvClient.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/maps/OccupancyGridSrvClient.js b/src/maps/OccupancyGridSrvClient.js
index eee153d..b6de921 100644
--- a/src/maps/OccupancyGridSrvClient.js
+++ b/src/maps/OccupancyGridSrvClient.js
@@ -5,7 +5,7 @@
  */
 
 /**
- * A map that listens to a given occupancy grid topic.
+ * A static map that receives from map_server..
  *
  * Emits the following events:
  *   * 'change' - there was an update or change in the map