lj_laser_heading_node.cpp
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00001 #include <string>
00002 
00003 #include <ros/ros.h>
00004 #include <ros/console.h> // to change the log level to debug
00005 
00006 #include <lj_laser_heading/jockey.h>
00007 
00008 int main(int argc, char **argv)
00009 {
00010   ros::init(argc, argv, "localizing_jockey");
00011   ros::NodeHandle n("~");
00012   
00013   // Change log level.
00014   if(ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info))
00015   {
00016     ros::console::notifyLoggerLevelsChanged();
00017   }
00018 
00019   std::string localizing_jockey_server;
00020   std::string default_server_name = ros::this_node::getName();
00021   default_server_name += "_server";
00022         n.param<std::string>("localizing_jockey_server_name", localizing_jockey_server, default_server_name);
00023 
00024   /* Minimal frontier width */
00025   if (!n.hasParam("frontier_width"))
00026   {
00027     ROS_ERROR("Parameter frontier_width not set, exiting.");
00028     return 1;
00029   }
00030   double frontier_width;
00031   n.param<double>("frontier_width", frontier_width, 0.0);
00032 
00033   lj_laser_heading::Jockey jockey(localizing_jockey_server, frontier_width);
00034 
00035   ROS_INFO("%s started (with action server %s)", ros::this_node::getName().c_str(), localizing_jockey_server.c_str());
00036   ros::spin();
00037   return 0;
00038 }
00039 


lj_laser_heading
Author(s): Gaƫl Ecorchard
autogenerated on Thu Jun 6 2019 17:50:49