octomap_tracking_server_node.cpp
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00001 /*
00002  * Copyright (c) 2012, D. Kuhner, P. Ruchti, University of Freiburg
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the University of Freiburg nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <ros/ros.h>
00031 #include <octomap_server/TrackingOctomapServer.h>
00032 
00033 #define USAGE "\nUSAGE: octomap_tracking_server <map.bt>\n" \
00034               "  map.bt: octomap 3D map file to read\n"
00035 
00036 using namespace octomap_server;
00037 
00038 int main(int argc, char** argv){
00039   ros::init(argc, argv, "octomap_tracking_server");
00040   std::string mapFilename("");
00041 
00042   if (argc > 2 || (argc == 2 && std::string(argv[1]) == "-h")){
00043           ROS_ERROR("%s", USAGE);
00044           exit(-1);
00045   }
00046 
00047   if (argc == 2)
00048           mapFilename = std::string(argv[1]);
00049 
00050   try{
00051           TrackingOctomapServer ms(mapFilename);
00052           ros::spin();
00053   }catch(std::runtime_error& e){
00054           ROS_ERROR("octomap_server exception: %s", e.what());
00055           return -1;
00056   }
00057 
00058   return 0;
00059 }
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octomap_server
Author(s): Armin Hornung
autogenerated on Tue Jul 9 2013 10:21:26