OccupancyGridSrvClient which uses service to receive a static map

src/maps/OccupancyGridSrvClient.js

@@ -0,0 +1,52 @@
+/**
+ * @author Jihoon Lee- jihoonlee.in@gmail.com 
+ *
+ * - Most Implementation is copied from OccupancyGridClient implemented by Russel Toris - rctoris@wpi.edu
+ */
+
+/**
+ * A static map that receives from map_server..
+ *
+ * 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
+ *   * service (optional) - the map topic to listen to
+ *   * rootObject (optional) - the root object to add this marker to
+ */
+ROS2D.OccupancyGridSrvClient = function(options) {
+  var that = this;
+  options = options || {};
+  var ros = options.ros;
+  var service = options.service || '/static_map';
+  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');
+
+  });
+};
+ROS2D.OccupancyGridSrvClient.prototype.__proto__ = EventEmitter2.prototype;