slam_toolbox_localization_node.cpp
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1 /*
2  * slam_toolbox
3  * Copyright Work Modifications (c) 2019, Steve Macenski
4  *
5  * THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE
6  * COMMONS PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY
7  * COPYRIGHT AND/OR OTHER APPLICABLE LAW. ANY USE OF THE WORK OTHER THAN AS
8  * AUTHORIZED UNDER THIS LICENSE OR COPYRIGHT LAW IS PROHIBITED.
9  *
10  * BY EXERCISING ANY RIGHTS TO THE WORK PROVIDED HERE, YOU ACCEPT AND AGREE TO
11  * BE BOUND BY THE TERMS OF THIS LICENSE. THE LICENSOR GRANTS YOU THE RIGHTS
12  * CONTAINED HERE IN CONSIDERATION OF YOUR ACCEPTANCE OF SUCH TERMS AND
13  * CONDITIONS.
14  *
15  */
16 
17 /* Author: Steven Macenski */
18 
20 
21 int main(int argc, char** argv)
22 {
23  ros::init(argc, argv, "slam_toolbox");
24  ros::NodeHandle nh("~");
25  ros::spinOnce();
26 
27  int stack_size;
28  if (nh.getParam("stack_size_to_use", stack_size))
29  {
30  ROS_INFO("Node using stack size %i", (int)stack_size);
31  const rlim_t max_stack_size = stack_size;
32  struct rlimit stack_limit;
33  getrlimit(RLIMIT_STACK, &stack_limit);
34  if (stack_limit.rlim_cur < stack_size)
35  {
36  stack_limit.rlim_cur = stack_size;
37  }
38  setrlimit(RLIMIT_STACK, &stack_limit);
39  }
40 
42 
43  ros::spin();
44  return 0;
45 }
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
#define ROS_INFO(...)
bool getParam(const std::string &key, std::string &s) const
ROSCPP_DECL void spin()
int main(int argc, char **argv)
ROSCPP_DECL void spinOnce()


slam_toolbox
Author(s): Steve Macenski
autogenerated on Sat Oct 3 2020 03:51:01