00001 00002 #include "mrpt_ekf_slam_2d/mrpt_ekf_slam_2d_wrapper.h" 00003 00004 int main(int argc, char **argv) 00005 { 00006 ros::init(argc, argv, "mrpt_ekf_slam_2d"); 00007 ros::NodeHandle n; 00008 ros::Rate r(100); 00009 EKFslamWrapper slam; 00010 slam.get_param(); 00011 slam.init(); 00012 ros::Duration(3).sleep(); 00013 00014 if (!slam.rawlogPlay()) 00015 { // if not play from rawlog file 00016 00017 while (ros::ok()) 00018 { 00019 ros::spinOnce(); 00020 r.sleep(); 00021 } 00022 } 00023 }