mrpt_icp_slam_2d_app.cpp

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#include "mrpt_icp_slam_2d/mrpt_icp_slam_2d_wrapper.h"

int main(int argc, char **argv)
{
  ros::init(argc, argv, "mrpt_icp_slam_2d");
  ros::NodeHandle n;
  ros::Rate r(100);
  ICPslamWrapper slam;
  slam.get_param();
  slam.init();
  ros::Duration(3).sleep();

  if (!slam.rawlogPlay())
  {  // if not play from rawlog file

    while (ros::ok())
    {
      ros::spinOnce();
      r.sleep();
    }
  }
}