slam_toolbox_sync_node.cpp
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1 /*
2  * slam_toolbox
3  * Copyright Work Modifications (c) 2018, Simbe Robotics, Inc.
4  * Copyright Work Modifications (c) 2019, Steve Macenski
5  *
6  * THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE
7  * COMMONS PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY
8  * COPYRIGHT AND/OR OTHER APPLICABLE LAW. ANY USE OF THE WORK OTHER THAN AS
9  * AUTHORIZED UNDER THIS LICENSE OR COPYRIGHT LAW IS PROHIBITED.
10  *
11  * BY EXERCISING ANY RIGHTS TO THE WORK PROVIDED HERE, YOU ACCEPT AND AGREE TO
12  * BE BOUND BY THE TERMS OF THIS LICENSE. THE LICENSOR GRANTS YOU THE RIGHTS
13  * CONTAINED HERE IN CONSIDERATION OF YOUR ACCEPTANCE OF SUCH TERMS AND
14  * CONDITIONS.
15  *
16  */
17 
18 /* Author: Steven Macenski */
19 
21 
22 int main(int argc, char** argv)
23 {
24  ros::init(argc, argv, "slam_toolbox");
25  ros::NodeHandle nh("~");
26  ros::spinOnce();
27 
28  int stack_size;
29  if (nh.getParam("stack_size_to_use", stack_size))
30  {
31  ROS_INFO("Node using stack size %i", (int)stack_size);
32  const rlim_t max_stack_size = stack_size;
33  struct rlimit stack_limit;
34  getrlimit(RLIMIT_STACK, &stack_limit);
35  if (stack_limit.rlim_cur < stack_size)
36  {
37  stack_limit.rlim_cur = stack_size;
38  }
39  setrlimit(RLIMIT_STACK, &stack_limit);
40  }
41 
43 
44  ros::spin();
45  return 0;
46 }
int main(int argc, char **argv)
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()
ROSCPP_DECL void spinOnce()


slam_toolbox
Author(s): Steve Macenski
autogenerated on Wed Mar 3 2021 03:49:20