00001 #include "mrpt_icp_slam_2d/mrpt_icp_slam_2d_wrapper.h" 00002 00003 int main(int argc, char **argv) 00004 { 00005 ros::init(argc, argv, "mrpt_icp_slam_2d"); 00006 ros::NodeHandle n; 00007 ros::Rate r(100); 00008 ICPslamWrapper slam; 00009 slam.get_param(); 00010 slam.init(); 00011 ros::Duration(3).sleep(); 00012 00013 if (!slam.rawlogPlay()) 00014 { // if not play from rawlog file 00015 00016 while (ros::ok()) 00017 { 00018 ros::spinOnce(); 00019 r.sleep(); 00020 } 00021 } 00022 }