MapperNode.cpp

Go to the documentation of this file.

#include <ros/ros.h>

#include <nav2d_karto/MultiMapper.h>
#include <nav2d_karto/SpaSolver.h>
#include <nav2d_karto/SpaSolver.h>

int main(int argc, char **argv)
{
        // Initialize ROS
        ros::init(argc, argv, "MultiMapper");
        ros::NodeHandle node;

        // Create a scan-solver
        SpaSolver* solver = new SpaSolver();

        // Create the MultiMapper
        MultiMapper mapper;
        mapper.setScanSolver(solver);

        // Start main loop
        ros::Rate publishRate(10);
        while(ros::ok())
        {
                mapper.publishTransform();
                ros::spinOnce();
                publishRate.sleep();
        }

        // Quit
        return 0;
}