world_model.cpp
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00001 #include "wire/WorldModelROS.h"
00002 
00003 using namespace std;
00004 
00005 double loop_rate_ = 20;
00006 
00007 int main(int argc, char **argv) {
00008 
00009     // Initialize node
00010     ros::init(argc, argv, "WorldModel");
00011     ros::NodeHandle nh_private("~");
00012 
00013     mhf::WorldModelROS wm;
00014 
00015     /* * * * * * * * * Load evidence topic names from parameters * * * * * * * * * */
00016 
00017     XmlRpc::XmlRpcValue evidence_topics;
00018     nh_private.getParam("evidence_topics", evidence_topics);
00019 
00020     if (evidence_topics.getType() != XmlRpc::XmlRpcValue::TypeArray) {
00021         ROS_ERROR("Parameter 'evidence_topics' should be an array.");
00022         return -1;
00023     }
00024 
00025     for (int i = 0; i < evidence_topics.size(); ++i) {
00026         XmlRpc::XmlRpcValue& evidence_topic = evidence_topics[i];
00027 
00028         if (evidence_topic.getType() != XmlRpc::XmlRpcValue::TypeString) {
00029             ROS_ERROR("Each evidence topic must be a string.");
00030             return -1;
00031         }
00032 
00033         wm.registerEvidenceTopic((string)evidence_topic);
00034     }
00035 
00036     /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
00037 
00038     wm.startThreaded();
00039 
00040     ros::spin();
00041 
00042     return 0;
00043 }


wire_core
Author(s): Sjoerd van den Dries, Jos Elfring
autogenerated on Tue Jan 7 2014 11:43:19