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mrpt_ekf_slam_2d_app.cpp
Go to the documentation of this file.
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#include "
mrpt_ekf_slam_2d/mrpt_ekf_slam_2d_wrapper.h
"
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int
main
(
int
argc,
char
**argv)
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{
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ros::init
(argc, argv,
"mrpt_ekf_slam_2d"
);
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ros::NodeHandle
n;
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ros::Rate
r
(100);
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EKFslamWrapper
slam;
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slam.
get_param
();
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slam.
init
();
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ros::Duration
(3).
sleep
();
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if
(!slam.
rawlogPlay
())
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{
// if not play from rawlog file
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while
(
ros::ok
())
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{
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ros::spinOnce
();
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r.
sleep
();
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}
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}
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}
EKFslamWrapper
The EKFslamWrapper class provides the ROS wrapper for EKF SLAM 2d from MRPT libraries.
Definition:
mrpt_ekf_slam_2d_wrapper.h:64
ros::NodeHandle
main
int main(int argc, char **argv)
Definition:
mrpt_ekf_slam_2d_app.cpp:4
ros::Duration::sleep
bool sleep() const
EKFslamWrapper::rawlogPlay
bool rawlogPlay()
play rawlog file
Definition:
mrpt_ekf_slam_2d_wrapper.cpp:187
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ros::Rate
mrpt_ekf_slam_2d_wrapper.h
EKFslamWrapper::get_param
void get_param()
read the parameters from launch file
Definition:
mrpt_ekf_slam_2d_wrapper.cpp:21
ros::ok
ROSCPP_DECL bool ok()
EKFslamWrapper::init
void init()
initialize publishers subscribers and EKF 2d slam
Definition:
mrpt_ekf_slam_2d_wrapper.cpp:47
ros::Rate::sleep
bool sleep()
ros::Duration
ros::spinOnce
ROSCPP_DECL void spinOnce()
r
r
mrpt_ekf_slam_2d
Author(s): Jose Luis, Vladislav Tananaev
autogenerated on Thu Jun 6 2019 19:37:43