00001 /* 00002 * Copyright (c) 2013, Fraunhofer FKIE 00003 * 00004 * Authors: Bastian Gaspers 00005 * 00006 * Redistribution and use in source and binary forms, with or without 00007 * modification, are permitted provided that the following conditions are met: 00008 * 00009 * * Redistributions of source code must retain the above copyright 00010 * notice, this list of conditions and the following disclaimer. 00011 * * Redistributions in binary form must reproduce the above copyright 00012 * notice, this list of conditions and the following disclaimer in the 00013 * documentation and/or other materials provided with the distribution. 00014 * * Neither the name of the Fraunhofer FKIE nor the names of its 00015 * contributors may be used to endorse or promote products derived from 00016 * this software without specific prior written permission. 00017 * 00018 * This file is part of the StructureColoring ROS package. 00019 * 00020 * The StructureColoring ROS package is free software: 00021 * you can redistribute it and/or modify it under the terms of the 00022 * GNU Lesser General Public License as published by the Free 00023 * Software Foundation, either version 3 of the License, or 00024 * (at your option) any later version. 00025 * 00026 * The StructureColoring ROS package is distributed in the hope that it will be useful, 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00029 * GNU Lesser General Public License for more details. 00030 * 00031 * You should have received a copy of the GNU Lesser General Public License 00032 * along with The StructureColoring ROS package. 00033 * If not, see <http://www.gnu.org/licenses/>. 00034 */ 00035 00036 #include <structureColoring/StructureColoring.h> 00037 #include <ros/ros.h> 00038 00039 int main(int argc, char* argv[]) { 00040 ros::init(argc, argv, "structureColoring"); 00041 ros::Time::init(); 00042 ros::Rate loop_rate(10); 00043 ros::NodeHandle n; 00044 StructureColoring structureColoring(n, argc, argv); 00045 if (structureColoring.waitOnKinectMsgs() || structureColoring.waitOnLaserMsgs()) 00046 while (n.ok()) { 00047 ros::spinOnce(); 00048 //structureColoring.update(); 00049 loop_rate.sleep(); 00050 } 00051 else 00052 structureColoring.getPointsFromFile(); 00053 ros::spinOnce(); 00054 usleep(300000); 00055 return 0; 00056 }