00001 00021 #include "EstimationNode.h" 00022 #include "ros/ros.h" 00023 #include "PTAMWrapper.h" 00024 #include "MapView.h" 00025 00026 00027 // this global var is used in getMS(ros::Time t) to convert to a consistent integer timestamp used internally pretty much everywhere. 00028 // kind of an artifact from Windows-Version, where only that was available / used. 00029 unsigned int ros_header_timestamp_base = 0; 00030 00031 00032 int main(int argc, char **argv) 00033 { 00034 00035 ros::init(argc, argv, "drone_stateestimation"); 00036 00037 ROS_INFO("Started TUM ArDrone Stateestimation Node."); 00038 00039 EstimationNode estimator; 00040 00041 dynamic_reconfigure::Server<tum_ardrone::StateestimationParamsConfig> srv; 00042 dynamic_reconfigure::Server<tum_ardrone::StateestimationParamsConfig>::CallbackType f; 00043 f = boost::bind(&EstimationNode::dynConfCb, &estimator, _1, _2); 00044 srv.setCallback(f); 00045 00046 estimator.ptamWrapper->startSystem(); 00047 estimator.mapView->startSystem(); 00048 00049 estimator.Loop(); 00050 00051 estimator.mapView->stopSystem(); 00052 estimator.ptamWrapper->stopSystem(); 00053 00054 return 0; 00055 }