slam_toolbox_async_node.cpp

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/*
 * slam_toolbox
 * Copyright Work Modifications (c) 2018, Simbe Robotics, Inc.
 * Copyright Work Modifications (c) 2019, Steve Macenski
 *
 * THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE
 * COMMONS PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY
 * COPYRIGHT AND/OR OTHER APPLICABLE LAW. ANY USE OF THE WORK OTHER THAN AS
 * AUTHORIZED UNDER THIS LICENSE OR COPYRIGHT LAW IS PROHIBITED.
 *
 * BY EXERCISING ANY RIGHTS TO THE WORK PROVIDED HERE, YOU ACCEPT AND AGREE TO
 * BE BOUND BY THE TERMS OF THIS LICENSE. THE LICENSOR GRANTS YOU THE RIGHTS
 * CONTAINED HERE IN CONSIDERATION OF YOUR ACCEPTANCE OF SUCH TERMS AND
 * CONDITIONS.
 *
 */
 
/* Author: Steven Macenski */
 
#include "slam_toolbox/slam_toolbox_async.hpp"
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "slam_toolbox");
  ros::NodeHandle nh("~");
  ros::spinOnce();
 
  int stack_size;
  if (nh.getParam("stack_size_to_use", stack_size))
  {
    ROS_INFO("Node using stack size %i", (int)stack_size);
    const rlim_t max_stack_size = stack_size;
    struct rlimit stack_limit;
    getrlimit(RLIMIT_STACK, &stack_limit);
    if (stack_limit.rlim_cur < stack_size)
    {
      stack_limit.rlim_cur = stack_size;
    }
    setrlimit(RLIMIT_STACK, &stack_limit);
  }
 
  slam_toolbox::AsynchronousSlamToolbox sst(nh);
 
  ros::spin();
  return 0;
}