import SRTM data covering Sweden

.gitattributes

+*.tiff filter=lfs diff=lfs merge=lfs -text

.vscode/c_cpp_properties.json

+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/cyrille/ros2_ws/install/upf_msgs/include/**",
+        "/home/cyrille/ros2_ws/install/ros_scql/include/**",
+        "/home/cyrille/ros2_ws/install/ros_scql_interfaces/include/**",
+        "/home/cyrille/ros2_ws/install/ros_rtmapping_interfaces/include/**",
+        "/home/cyrille/ros2_ws/install/ros_march_pralin/include/**",
+        "/home/cyrille/ros2_ws/install/ros_march/include/**",
+        "/home/cyrille/ros2_ws/install/ros_march_interfaces/include/**",
+        "/home/cyrille/ros2_ws/install/ros_kdb/include/**",
+        "/home/cyrille/ros2_ws/install/ros_kdb_interfaces/include/**",
+        "/home/cyrille/ros2_ws/install/ros_hypertension_interfaces/include/**",
+        "/home/cyrille/ros2_ws/install/ros2_dji_osdk_ros_msgs/include/**",
+        "/home/cyrille/ros2_ws/install/lrs_team_msgs/include/**",
+        "/home/cyrille/ros2_ws/install/lrs_srvs_wdb/include/**",
+        "/home/cyrille/ros2_ws/install/lrs_srvs_tst/include/**",
+        "/home/cyrille/ros2_ws/install/lrs_srvs_ra/include/**",
+        "/home/cyrille/ros2_ws/install/lrs_srvs_exec/include/**",
+        "/home/cyrille/ros2_ws/install/lrs_msgs_tst/include/**",
+        "/home/cyrille/ros2_ws/install/lrs_msgs_common/include/**",
+        "/home/cyrille/ros2_ws/install/lrs_m100_msgs/include/**",
+        "/home/cyrille/ros2_ws/install/lrs_common/include/**",
+        "/home/cyrille/ros2_ws/install/husky_base/include/**",
+        "/home/cyrille/ros2_ws/install/husky_msgs/include/**",
+        "/home/cyrille/ros2_ws/install/domain_bridge/include/**",
+        "/opt/ros/humble/include/**",
+        "/home/cyrille/ros2_ws/src/domain_bridge/include/**",
+        "/home/cyrille/ros2_ws/src/husky/husky_base/include/**",
+        "/home/cyrille/ros2_ws/src/lks_base_knowledge_sweden/include/**",
+        "/home/cyrille/ros2_ws/src/lrs_common/include/**",
+        "/home/cyrille/ros2_ws/src/lrs_drop_kit/include/**",
+        "/home/cyrille/ros2_ws/src/lrs_kdb/include/**",
+        "/home/cyrille/ros2_ws/src/lrs_wtf/include/**",
+        "/home/cyrille/ros2_ws/src/rclrb_examples/include/**",
+        "/home/cyrille/ros2_ws/src/ros_kdb/include/**",
+        "/home/cyrille/ros2_ws/src/ros_march/include/**",
+        "/home/cyrille/ros2_ws/src/ros_march_pralin/include/**",
+        "/home/cyrille/ros2_ws/src/ros_rtmapping/include/**",
+        "/home/cyrille/ros2_ws/src/ros_rtmapping_interfaces/include/**",
+        "/home/cyrille/ros2_ws/src/ros_scql/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file

CMakeLists.txt

+cmake_minimum_required(VERSION 3.8)
+project(lks_base_knowledge_sweden)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY data DESTINATION share/${PROJECT_NAME})
+
+ament_package()

README.MD

+lks base knowledge for Sweden
+=============================
+
+This repository contains base knowledge data, covering Sweden, intended to be used as base knowledge for kDB. It can be installed as a ROS package, for use with ros_kdb, or without ROS.
+
+Data
+====
+
+* `data/dems` digital elevation maps covering the south of Sweden, from NASA SRTM downloaded using [https://dwtkns.com/srtm30m/](dwtkns). The following tiles are included:
+
+![Selected area in dwtkns](doc/dwtkns_area.png)
+
+ros_kdb
+=======
+
+The following service call can be used to load the data in a `ros_kdb` server:
+
+```
+# Start kDB Server:
+
+ros2 run ros_kdb
+
+# Load the data
+
+ros2 service call /kdb_server/sqm_query ros_kdb_interfaces/srv/QueryDatabase "queries: [{query: 'REGISTER BASE KNOWLEDGE directory: \"`ros2 pkg prefix lks_base_knowledge_sweden`/share/lks_base_knowledge_sweden/data/dems/\"'}]"
+```
+
+Example of queries:
+
+```
+ros2 service call /kdb_server/get_altitude ros_kdb_interfaces/srv/GetAltitude "{latitude: 58.393166, longitude: 15.571833, srid: 4326}"
+```
+
+License
+=======
+
+The data contained in this repository is either in the public domain or can be distributed without restrictions.
+
+Further information can be found:
+* [https://www.usgs.gov/centers/eros/data-citation](U.S. Geographical Survey): for the SRTM DEM

batch_hgt_zip_to_gdal.sh

+#!/usr/bin/bash
+
+# bathc process STRM files in directory called data/dems/tmp to compressed geotiff stored in data/dems
+# execute script in data/dems/tmp
+
+for f in *.zip
+do
+	echo "Processing $f"
+  mkdir tmp
+  pushd tmp
+  unzip ../$f
+  [[ $f =~ (N[0-9]{2}E[0-9]{3}).SRTMGL1.hgt.zip ]]
+  BASE_FILE_NAME="${BASH_REMATCH[1]}"
+  gdal_translate -co "COMPRESS=DEFLATE" $BASE_FILE_NAME.hgt $BASE_FILE_NAME.tiff
+  popd
+  mv tmp/$BASE_FILE_NAME.tiff ..
+  rm -rf tmp
+done