visual_servo_node.cpp

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/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2019 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr/ for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * https://team.inria.fr/rainbow/fr/
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Visual servoing node to control Parrot Bebop 2 drone.
 *
 * Authors:
 * Gatien Gaumerais
 * Fabien Spindler
 *
 *****************************************************************************/

#include <string>
#include <vector>
#include <algorithm>

#include <ros/ros.h>
#include <nodelet/loader.h>

#include <visp3/core/vpConfig.h>

int main(int argc, char* argv[])
{
#if VISP_VERSION_INT > VP_VERSION_INT(3,2,0) // ViSP >= 3.0.0
  ros::init(argc, argv, "bebop_vs", ros::init_options::NoSigintHandler);
  nodelet::Loader nll;

  nodelet::M_string remap(ros::names::getRemappings());
  nodelet::V_string nargv;
  const std::string nl_name = ros::this_node::getName();
  nll.load(nl_name, "visp_ros_bebop2_visual_servo_nodelet", remap, nargv);

  const std::vector<std::string>& loaded_nodelets = nll.listLoadedNodelets();
  if (std::find(loaded_nodelets.begin(),
                loaded_nodelets.end(),
                nl_name) == loaded_nodelets.end())
  {
    // Nodelet OnInit() failed
    ROS_FATAL("Visual servo nodelet failed to load.");
    return 1;
  }

  // It reaches here when OnInit() succeeds
  ROS_INFO("Visual servo nodelet loaded.");
  ros::spin();
#else
  ROS_INFO("This node needs ViSP > 3.2.0. Exit...");
#endif

  return 0;
}