minimal_test.cpp
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35  * Author: Steve Macenski (steven.macenski@simberobotics.com)
36  * Purpose: Test minimum configuration of costmap_2d
37 /*********************************************************************/
38 
39 
40 #include <ros/ros.h>
43 #include <thread>
44 
46 #include "tf2_ros/message_filter.h"
49 
50 
51 /*****************************************************************************/
53 /*****************************************************************************/
54 {
56  tf::Transform transform;
57  transform.setIdentity();
58  transform.setOrigin(tf::Vector3(2.,2.,0.));
59 
60  ros::Rate r(20);
61  while (ros::ok())
62  {
64  "map", "base_link"));
66  "base_link", "camera_link"));
67  r.sleep();
68  ros::spinOnce();
69  }
70 }
71 
72 /*****************************************************************************/
73 int main(int argc, char **argv)
74 /*****************************************************************************/
75 {
76  ros::init(argc, argv, "STVL_minimal_test");
77 
80  std::thread t(TransformThread);
81 
82  costmap_2d::Costmap2DROS costmap("global_costmap", tf_buffer);
83  costmap.start();
84 
85  ros::Rate r(10);
86  while (ros::ok())
87  {
88  // then make a thread to do something with a costmap pointer...
89  ros::spinOnce();
90  r.sleep();
91  }
92  return 1;
93 }
TransformThread
void TransformThread()
Definition: minimal_test.cpp:52
tf::TransformBroadcaster::sendTransform
void sendTransform(const geometry_msgs::TransformStamped &transform)
ros::init
ROSCPP_DECL void init(const M_string &remappings, const std::string &name, uint32_t options=0)
ros.h
ros::spinOnce
ROSCPP_DECL void spinOnce()
tf::StampedTransform
costmap_2d_ros.h
ros::ok
ROSCPP_DECL bool ok()
transform_broadcaster.h
tf2_ros::TransformListener
message_filter.h
tf::TransformBroadcaster
subscriber.h
tf2_ros::Buffer
tf::Transform
tf::Transform::setOrigin
TFSIMD_FORCE_INLINE void setOrigin(const Vector3 &origin)
ros::Rate::sleep
bool sleep()
costmap_2d::Costmap2DROS::start
void start()
transform_listener.h
main
int main(int argc, char **argv)
Definition: minimal_test.cpp:73
tf_buffer
tf2_ros::Buffer * tf_buffer
tf::Transform::setIdentity
void setIdentity()
tf2_geometry_msgs.h
ros::Rate
costmap_2d::Costmap2DROS
t
geometry_msgs::TransformStamped t
ros::Time::now
static Time now()


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autogenerated on Wed Aug 16 2023 02:10:02