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00024 #include <ros/ros.h>
00025 #include <humanoid_localization/HumanoidLocalization.h>
00026
00027 int main(int argc, char** argv){
00028 ros::init(argc, argv, "humanoid_localization");
00029
00030 ros::NodeHandle private_nh("~");
00031 unsigned seed;
00032 int iseed;
00033 private_nh.param("seed", iseed, -1);
00034 if(iseed == -1)
00035 seed = static_cast<unsigned int>(std::time(0));
00036 else
00037 seed = static_cast<unsigned int>(iseed);
00038
00039 humanoid_localization::HumanoidLocalization localization(seed);
00040
00041 ros::spin();
00042
00043 return 0;
00044 }