MapperNode.cpp
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00001 #include <ros/ros.h>
00002 
00003 #include <nav2d_karto/MultiMapper.h>
00004 #include <nav2d_karto/SpaSolver.h>
00005 #include <nav2d_karto/SpaSolver.h>
00006 
00007 int main(int argc, char **argv)
00008 {
00009         // Initialize ROS
00010         ros::init(argc, argv, "MultiMapper");
00011         ros::NodeHandle node;
00012 
00013         // Create a scan-solver
00014         SpaSolver* solver = new SpaSolver();
00015 
00016         // Create the MultiMapper
00017         MultiMapper mapper;
00018         mapper.setScanSolver(solver);
00019 
00020         // Start main loop
00021         ros::Rate publishRate(10);
00022         while(ros::ok())
00023         {
00024                 mapper.publishTransform();
00025                 ros::spinOnce();
00026                 publishRate.sleep();
00027         }
00028 
00029         // Quit
00030         return 0;
00031 }


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Sun Apr 2 2017 04:05:23