00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, LABUST, UNIZG-FER 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the LABUST nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * Author: Dula Nad 00035 * Created: 01.02.2013. 00036 *********************************************************************/ 00037 #include <labust/gearth/CaddyKML.hpp> 00038 00039 #include <auv_msgs/NavSts.h> 00040 #include <geometry_msgs/Point.h> 00041 #include <ros/ros.h> 00042 00044 int main(int argc, char* argv[]) 00045 { 00046 ros::init(argc,argv,"caddy_ge"); 00047 ros::NodeHandle nh,ph("~"); 00048 00049 labust::gearth::CaddyKML kml; 00050 ros::Subscriber platform = nh.subscribe<auv_msgs::NavSts>("platform", 00051 1, &labust::gearth::CaddyKML::addShipPosition, &kml); 00052 ros::Subscriber diver = nh.subscribe<auv_msgs::NavSts>("diver", 00053 1, &labust::gearth::CaddyKML::addVehiclePosition, &kml); 00054 ros::Subscriber diver_origin = nh.subscribe<geometry_msgs::Point>("diver_origin", 00055 1, &labust::gearth::CaddyKML::setDiverOrigin, &kml); 00056 00057 double freq(2); 00058 ph.param("rate",freq,freq); 00059 ros::Rate rate(freq); 00060 while (ros::ok()) 00061 { 00062 ros::spinOnce(); 00063 rate.sleep(); 00064 } 00065 00066 ros::spin(); 00067 return 0; 00068 } 00069 00070 00071 00072