place_matcher_fourier_node.cpp
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00001 #include <ros/ros.h>
00002 #include <std_msgs/String.h>
00003 #include <pm_fourier/fourier_dist.h>
00004 
00005 int main(int argc, char **argv)
00006 {
00007   ros::init(argc, argv, "pm_fourier_dist_server");
00008   ros::NodeHandle nh("~");
00009 
00010   FourierDistance fdist(nh);
00011   ros::ServiceServer service = nh.advertiseService("compute_dissimilarity", &FourierDistance::dissimilarity, &fdist);
00012 
00013   int max_thread;
00014   nh.param<int>("max_thread", max_thread, 2);
00015 
00016   ROS_INFO("Ready to work (with %i threads)", max_thread);
00017   /* ros::Publisher pub = global_nh.advertise<std_msgs::String>("node_register", 10, true); */
00018 
00019   /* std_msgs::String msg; */
00020   /* msg.data = ros::this_node::getName(); */
00021   /* pub.publish(msg); */
00022 
00023   ros::MultiThreadedSpinner spinner(max_thread); 
00024   spinner.spin();
00025 
00026   return 0;
00027 }
00028 
00029 


place_matcher_fourier
Author(s): Gaël Ecorchard , Karel Košnar , Vojtěch Vonásek
autogenerated on Sat Jun 8 2019 19:53:01