ekf_localization_node.cpp

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/*
 * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above
 * copyright notice, this list of conditions and the following
 * disclaimer in the documentation and/or other materials provided
 * with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its
 * contributors may be used to endorse or promote products derived
 * from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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#include "robot_localization/ros_filter_types.h"

#include <cstdlib>

#include <ros/ros.h>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "ekf_navigation_node");

  ros::NodeHandle nh;
  ros::NodeHandle nh_priv("~");

  RobotLocalization::RosEkf ekf(nh, nh_priv);
  ekf.initialize();
  ros::spin();

  return EXIT_SUCCESS;
}