mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 01:37:46 +08:00
49 lines
2.0 KiB
C++
49 lines
2.0 KiB
C++
|
/*
|
||
|
|
Copyright (c) 2010-2019, 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 "ros/ros.h"
|
||
|
|
#include "nodelet/loader.h"
|
||
|
|
|
||
|
|
int main(int argc, char **argv)
|
||
|
|
{
|
||
|
|
ros::init(argc, argv, "imu_to_tf");
|
||
|
|
|
||
|
|
nodelet::V_string nargv;
|
||
|
|
for(int i=1;i<argc;++i)
|
||
|
|
{
|
||
|
|
nargv.push_back(argv[i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
nodelet::Loader nodelet;
|
||
|
|
nodelet::M_string remap(ros::names::getRemappings());
|
||
|
|
std::string nodelet_name = ros::this_node::getName();
|
||
|
|
nodelet.load(nodelet_name, "rtabmap_ros/imu_to_tf", remap, nargv);
|
||
|
|
ros::spin();
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|