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00002 #include "simple_occupancy_grid/occupancy_grid.h"
00003 #include <stdio.h>
00004
00005
00006 int main (int argc, char *argv[])
00007 {
00008 ros::init(argc, argv, "occupancy_grid_node");
00009
00010
00011 ros::NodeHandle nh("~");
00012
00013 double center_x, center_y, center_z;
00014 double size_x, size_y, size_z;
00015 double res_x, res_y, res_z;
00016
00017 nh.param<double>("center_x", center_x, 0.5);
00018 nh.param<double>("center_y", center_y, 0.);
00019 nh.param<double>("center_z", center_z, 1.0);
00020
00021 nh.param<double>("size_x", size_x, 1.0);
00022 nh.param<double>("size_y", size_y, 1.0);
00023 nh.param<double>("size_z", size_z, 0.5);
00024
00025 nh.param<double>("res_x", res_x, 0.01);
00026 nh.param<double>("res_y", res_y, 0.01);
00027 nh.param<double>("res_z", res_z, 0.01);
00028
00029 occupancy_grid::OccupancyGrid og(center_x, center_y, center_z,
00030 size_x, size_y, size_z,
00031 res_x, res_y, res_z);
00032
00033 ROS_INFO("Occupancy Grid node is up");
00034
00035 ros::spin();
00036
00037 }
00038
00039
00040
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00043