viodom_node.cpp

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#include <ros/ros.h>
#include "stereodom.hpp"

int main(int argc, char **argv)
{
        std::string left_cam, right_cam, imu_topic;
        ros::init(argc, argv, "viodom_node");  
  
        // Read node parameters
        ros::NodeHandle lnh("~");
        if(!lnh.getParam("left_cam", left_cam))
                left_cam = "/stereo/left";
        if(left_cam[left_cam.length()-1] == '/')
                left_cam.erase(left_cam.length()-1, 1);
        if(!lnh.getParam("right_cam", right_cam))
                right_cam = "/stereo/right";
        if(!lnh.getParam("imu_topic", imu_topic))
        imu_topic = "/imu";
        if(right_cam[right_cam.length()-1] == '/')
                right_cam.erase(right_cam.length()-1, 1);

        // Visual odometry instance
        std::string node_name = "viodom_node";
        Stereodom odom(node_name, left_cam, right_cam, imu_topic);
        
        // Spin for ever
        ros::spin();
}