laser_scan_matcher_node.cpp

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/*
 * Copyright (c) 2011, Ivan Dryanovski, William Morris
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * 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.
 *     * Neither the name of the CCNY Robotics Lab nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
/*  This package uses Canonical Scan Matcher [1], written by
 *  Andrea Censi
 *
 *  [1] A. Censi, "An ICP variant using a point-to-line metric"
 *  Proceedings of the IEEE International Conference
 *  on Robotics and Automation (ICRA), 2008
 */
 
/* This package contains modifications that are copyright by Nokia
 *
 * Licensed under the BSD 3-Clause "New" or "Revised" License
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <laser_scan_matcher/laser_scan_matcher.h>
 
// Workaround for a bug in CSM library. CSM does not properly
// handle all cases of singular matrix so an error trickles
// down in to the GSL library and causes the error handler
// to kick in. Our handler catches that error and
// and throws an exception. The exception is then caught
// in the caller and handled as failed matching. Only
// the GSL_EDOM errors are handled, other errors (potentially
// due to our bugs are still going to crash us so that we
// can fix them the right way.
void csm_gsl_error_handler(const char* reason, const char *file, int line, int gsl_errno)
{
 
  ROS_ERROR("intercepted GSL error in %s/%d: %s (%d)",
            file, line, reason, gsl_errno);
  if (gsl_errno == GSL_EDOM)
    throw gsl_errno;
  else
    exit(-1);
}
 
int main(int argc, char** argv)
{
  gsl_set_error_handler(csm_gsl_error_handler);
  ros::init(argc, argv, "LaserScanMatcher");
  ros::NodeHandle nh;
  ros::NodeHandle nh_private("~");
  scan_tools::LaserScanMatcher laser_scan_matcher(nh, nh_private);
  ros::spin();
  return 0;
}