MapperNode.cpp
Go to the documentation of this file.
1 #include <ros/ros.h>
2 
6 
7 int main(int argc, char **argv)
8 {
9  // Initialize ROS
10  ros::init(argc, argv, "MultiMapper");
11  ros::NodeHandle node;
12 
13  // Create a scan-solver
14  SpaSolver* solver = new SpaSolver();
15 
16  // Create the MultiMapper
17  MultiMapper mapper;
18  mapper.setScanSolver(solver);
19 
20  // Start main loop
21  ros::Rate publishRate(10);
22  while(ros::ok())
23  {
24  mapper.publishTransform();
25  ros::spinOnce();
26  publishRate.sleep();
27  }
28 
29  // Quit
30  return 0;
31 }
void setScanSolver(karto::ScanSolver *scanSolver)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void publishTransform()
ROSCPP_DECL bool ok()
bool sleep()
ROSCPP_DECL void spinOnce()
int main(int argc, char **argv)
Definition: MapperNode.cpp:7


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Thu Jun 6 2019 19:20:24