ukf_localization_node.cpp
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00001 /*
00002  * Copyright (c) 2015, Charles River Analytics, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions
00007  * are met:
00008  *
00009  * 1. Redistributions of source code must retain the above copyright
00010  * notice, this list of conditions and the following disclaimer.
00011  * 2. Redistributions in binary form must reproduce the above
00012  * copyright notice, this list of conditions and the following
00013  * disclaimer in the documentation and/or other materials provided
00014  * with the distribution.
00015  * 3. Neither the name of the copyright holder nor the names of its
00016  * contributors may be used to endorse or promote products derived
00017  * from this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00020  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00021  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00022  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00023  * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00024  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00025  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00026  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00027  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00028  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00029  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00030  * POSSIBILITY OF SUCH DAMAGE.
00031  */
00032 
00033 #include "robot_localization/ros_filter_types.h"
00034 
00035 #include <ros/ros.h>
00036 
00037 int main(int argc, char **argv)
00038 {
00039   ros::init(argc, argv, "ukf_navigation_node");
00040   ros::NodeHandle nhLocal("~");
00041 
00042   std::vector<double> args(3, 0);
00043 
00044   nhLocal.param("alpha", args[0], 0.001);
00045   nhLocal.param("kappa", args[1], 0.0);
00046   nhLocal.param("beta", args[2], 2.0);
00047 
00048   RobotLocalization::RosUkf ukf(args);
00049 
00050   ukf.run();
00051 
00052   return 0;
00053 }


robot_localization
Author(s): Tom Moore
autogenerated on Fri Aug 28 2015 12:26:20