MapperNode.cpp

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#include <ros/ros.h>

#include "MultiMapper.h"

#ifdef USE_G2O
#include "G2oSolver.h"
#else
#include "SpaSolver.h"
#endif

int main(int argc, char **argv)
{
        // Initialize ROS
        ros::init(argc, argv, "MultiMapper");
        ros::NodeHandle node;

        // Create a scan-solver
#ifdef USE_G2O
        G2oSolver* solver = new G2oSolver();
#else
        SpaSolver* solver = new SpaSolver();
#endif

        // Create the MultiMapper
        MultiMapper* mapper = new MultiMapper();
        mapper->setScanSolver(solver);

        // Start main loop
        ros::Rate publishRate(10);
        while(ros::ok())
        {
                mapper->publishTransform();
                ros::spinOnce();
                publishRate.sleep();
        }

        // Quit
        delete mapper;
        delete solver;
        return 0;
}