crsm_slam_node.cpp

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/*
 *      This file is part of CrsmSlam.
    CrsmSlam is free software: you can redistribute it and/or modify 
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    CrsmSlam is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with CrsmSlam.  If not, see <http://www.gnu.org/licenses/>.
* 
* Author : Manos Tsardoulias, etsardou@gmail.com
* Organization : AUTH, PANDORA Robotics Team
* */

#include "crsm_slam/crsm_slam.h"

int main (int argc, char **argv){
        
        ros::init(argc,argv,"crsm_slam_node",ros::init_options::NoSigintHandler);       
        
        crsm_slam::CrsmSlam slam(argc,argv);
        
        ROS_INFO("[CrsmSlam] CRSM Slam Node initialised");
        
        // subscribe to laser 
        slam.startLaserSubscriber();
        
        // publish map and trajectory
        slam.startOGMPublisher();
        slam.startTrajectoryPublisher();
        
        ros::spin();
        return 0;
}