ukf_localization_node.cpp

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/*
 * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *
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 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above
 * copyright notice, this list of conditions and the following
 * disclaimer in the documentation and/or other materials provided
 * with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its
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 * from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#include "robot_localization/ros_filter_types.h"

#include <ros/ros.h>

#include <vector>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "ukf_navigation_node");
  ros::NodeHandle nhLocal("~");

  std::vector<double> args(3, 0);

  nhLocal.param("alpha", args[0], 0.001);
  nhLocal.param("kappa", args[1], 0.0);
  nhLocal.param("beta", args[2], 2.0);

  RobotLocalization::RosUkf ukf(args);

  ukf.run();

  return EXIT_SUCCESS;
}