00001 00022 #include "EstimationNode.h" 00023 #include "ros/ros.h" 00024 #include "PTAMWrapper.h" 00025 #include "MapView.h" 00026 00027 00028 // this global var is used in getMS(ros::Time t) to convert to a consistent integer timestamp used internally pretty much everywhere. 00029 // kind of an artifact from Windows-Version, where only that was available / used. 00030 unsigned int ros_header_timestamp_base = 0; 00031 00032 00033 int main(int argc, char **argv) 00034 { 00035 00036 ros::init(argc, argv, "drone_stateestimation"); 00037 00038 ROS_INFO("Started TUM ArDrone Stateestimation Node."); 00039 00040 EstimationNode estimator; 00041 00042 dynamic_reconfigure::Server<uga_tum_ardrone::StateestimationParamsConfig> srv; 00043 dynamic_reconfigure::Server<uga_tum_ardrone::StateestimationParamsConfig>::CallbackType f; 00044 f = boost::bind(&EstimationNode::dynConfCb, &estimator, _1, _2); 00045 srv.setCallback(f); 00046 00047 estimator.ptamWrapper->startSystem(); 00048 estimator.mapView->startSystem(); 00049 00050 estimator.Loop(); 00051 00052 estimator.mapView->stopSystem(); 00053 estimator.ptamWrapper->stopSystem(); 00054 00055 return 0; 00056 }