icp-2d-slam_main.cpp
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00001 /*
00002  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #include "ros/ros.h"
00029 #include "std_msgs/String.h"
00030 #include "mrpt_bridge/mrpt_bridge.h"
00031 
00032 #include <mrpt/slam/CMetricMapBuilderICP.h>
00033 
00038 // %Tag(CLASS_WITH_DECLARATION)%
00039 class Listener
00040 {
00041 public:
00042   void callback(const std_msgs::String::ConstPtr& msg);
00043 };
00044 // %EndTag(CLASS_WITH_DECLARATION)%
00045 
00046 void Listener::callback(const std_msgs::String::ConstPtr& msg)
00047 {
00048   ROS_INFO("I heard: [%s]", msg->data.c_str());
00049 }
00050 
00051 int main(int argc, char **argv)
00052 {
00053   using namespace mrpt::slam;
00054 
00055   ros::init(argc, argv, "listener_class");
00056   ros::NodeHandle n;
00057 
00058   CMetricMapBuilderICP  icp_slam;
00059   // ...
00060 
00061 
00062 // %Tag(SUBSCRIBER)%
00063   Listener listener;
00064   ros::Subscriber sub = n.subscribe("chatter", 1000, &Listener::callback, &listener);
00065 // %EndTag(SUBSCRIBER)%
00066 
00067   ros::spin();
00068 
00069   return 0;
00070 }


mrpt_icp_slam_2d
Author(s): Jose Luis Blanco Claraco
autogenerated on Sat Aug 2 2014 10:20:16