X-lanni
86 lines
3.1 KiB
C++
86 lines
3.1 KiB
C++
/*
|
|
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
|
All rights reserved.
|
|
|
|
Redistribution and use in source and binary forms, with or without
|
|
modification, are permitted provided that the following conditions are met:
|
|
* Redistributions of source code must retain the above copyright
|
|
notice, this list of conditions and the following disclaimer.
|
|
* 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.
|
|
* Neither the name of the Universite de Sherbrooke 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 FOR A PARTICULAR PURPOSE ARE
|
|
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
|
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
#include "rtabmap_odom/stereo_odometry.hpp"
|
|
#include "rclcpp/rclcpp.hpp"
|
|
#ifdef RTABMAP_PYTHON
|
|
#include <rtabmap/core/PythonInterface.h>
|
|
#endif
|
|
|
|
int main(int argc, char **argv)
|
|
{
|
|
ULogger::setType(ULogger::kTypeConsole);
|
|
ULogger::setLevel(ULogger::kWarning);
|
|
|
|
// process "--params" argument
|
|
std::vector<std::string> arguments;
|
|
for(int i=1;i<argc;++i)
|
|
{
|
|
if(strcmp(argv[i], "--params") == 0)
|
|
{
|
|
rtabmap::ParametersMap parametersOdom = rtabmap::Parameters::getDefaultOdometryParameters(true);
|
|
for(rtabmap::ParametersMap::iterator iter=parametersOdom.begin(); iter!=parametersOdom.end(); ++iter)
|
|
{
|
|
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
|
|
std::cout <<
|
|
str <<
|
|
std::setw(60 - str.size()) <<
|
|
" [" <<
|
|
rtabmap::Parameters::getDescription(iter->first).c_str() <<
|
|
"]" <<
|
|
std::endl;
|
|
}
|
|
UWARN("Node will now exit after showing default odometry parameters because "
|
|
"argument \"--params\" is detected!");
|
|
exit(0);
|
|
}
|
|
else if(strcmp(argv[i], "--udebug") == 0)
|
|
{
|
|
ULogger::setLevel(ULogger::kDebug);
|
|
}
|
|
else if(strcmp(argv[i], "--uinfo") == 0)
|
|
{
|
|
ULogger::setLevel(ULogger::kInfo);
|
|
}
|
|
arguments.push_back(argv[i]);
|
|
|
|
}
|
|
|
|
#ifdef RTABMAP_PYTHON
|
|
rtabmap::PythonInterface pythonInterface;
|
|
#endif
|
|
rclcpp::init(argc, argv);
|
|
rclcpp::NodeOptions options;
|
|
options.arguments(arguments);
|
|
auto node = std::make_shared<rtabmap_odom::StereoOdometry>(options);
|
|
rclcpp::executors::MultiThreadedExecutor executor;
|
|
executor.add_node(node);
|
|
executor.spin();
|
|
rclcpp::shutdown();
|
|
return 0;
|
|
}
|