optris_imager_node.cpp

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 *  Copyright (c) 2012-2016
 *  Technische Hochschule Nürnberg Georg Simon Ohm
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#include <sys/stat.h>
#include "OptrisImager.h"

int main(int argc, char **argv)
{
  ros::init(argc, argv, "optris_imager_node");

  // private node handle to support command line parameters for rosrun
  ros::NodeHandle n_("~");

  std::string xmlConfig = "";
  n_.getParam("xmlConfig", xmlConfig);

  // A specific configuration file for each imager device is needed (cf. config directory)
  struct stat s;
  if(stat(xmlConfig.c_str(), &s) != 0)
  {
    std::cerr << "usage: rosrun <package> <node> _xmlConfig:=<xmlConfig>" << std::endl;
    std::cerr << " verify that <xmlConfig> exists" << std::endl;
    return -1;
  }

  ros::NodeHandle n;

  // Read parameters from xml file
  evo::IRDeviceParams params;
  if(!evo::IRDeviceParamsReader::readXML(xmlConfig.c_str(), params))
    return -1;

  // Find valid device
  evo::IRDevice* dev = evo::IRDevice::IRCreateDevice(params);
  if(!dev)
  {
    std::cout << "Error: UVC device with serial " << params.serial << " could not be found" << std::endl;
    return -1;
  }

  // Give control to class instance
  optris_drivers::OptrisImager imager(dev, params);
  imager.run();

  return 0;
}