LocalizerNode.cpp

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#include "ros/ros.h"
#include "tf/transform_broadcaster.h"
#include "nav_msgs/GetMap.h"

#include "SelfLocalizer.h"

int main(int argc, char **argv)
{
        ros::init(argc, argv, "localize_node");
        ros::NodeHandle n;

        SelfLocalizer selfLocalizer(true);

        tf::TransformBroadcaster tfBC;
        
        // Subscribe to laser scans
        std::string laserTopic;
        n.param("laser_topic", laserTopic, std::string("scan"));
        ros::Subscriber laserSubscriber = n.subscribe(laserTopic, 100, &SelfLocalizer::process, &selfLocalizer);

        // Get the map via service call
        std::string mapService;
        n.param("map_service", mapService, std::string("get_map"));
        ros::ServiceClient mapClient = n.serviceClient<nav_msgs::GetMap>(mapService);
        
        nav_msgs::GetMap srv;
        mapClient.waitForExistence();
        if(mapClient.call(srv))
        {
                selfLocalizer.convertMap(srv.response.map);
                selfLocalizer.initialize();
        }else
        {
                ROS_FATAL("Could not get a map.");
                return 1;
        }

        ros::Rate loopRate(10);
        while(ros::ok())
        {
                tfBC.sendTransform(selfLocalizer.getMapToOdometry());
                
                ros::spinOnce();
                loopRate.sleep();
        }

        ros::spin();
        return 0;
}