cleanup ros-pkg

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1269 f169173b-cf89-36c8-b27e-44dbe73f0c83

src/CoreNode.cpp

@@ -0,0 +1,88 @@
+/*
+ * CoreNode.cpp
+ *
+ *  Created on: 2 févr. 2010
+ *      Author: labm2414
+ */
+
+#include "CoreWrapper.h"
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UDirectory.h>
+#include <rtabmap/utilite/UStl.h>
+
+int main(int argc, char** argv)
+{
+	ROS_INFO("Starting node...");
+
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kWarning);
+
+	ros::init(argc, argv, "rtabmap");
+
+	bool deleteDbOnStart = false;
+	for(int i=1;i<argc;++i)
+	{
+		if(strcmp(argv[i], "--delete_db_on_start") == 0)
+		{
+			deleteDbOnStart = true;
+		}
+		else if(strcmp(argv[i], "--udebug") == 0)
+		{
+			ULogger::setLevel(ULogger::kDebug);
+		}
+		else if(strcmp(argv[i], "--params") == 0 || strcmp(argv[i], "--params-all") == 0)
+		{
+			rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
+			uInsert(parameters,
+					std::make_pair(rtabmap::Parameters::kRtabmapWorkingDirectory(),
+					UDirectory::homeDir()+"/.ros")); // change default to ~/.ros
+			uInsert(parameters,
+					std::make_pair(rtabmap::Parameters::kRtabmapDatabasePath(),
+					UDirectory::homeDir()+"/.ros/"+rtabmap::Parameters::getDefaultDatabaseName())); // change default to ~/.ros
+
+			if(strcmp(argv[i], "--params") == 0)
+			{
+				// hide specific parameters
+				for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end();)
+				{
+					if(uSplit(iter->first, '/').front().compare("Bayes") == 0 ||
+					   uSplit(iter->first, '/').front().compare("VhEp") == 0 ||
+					   uSplit(iter->first, '/').front().compare("Odom") == 0 ||
+					   uSplit(iter->first, '/').front().compare("OdomBin") == 0 ||
+					   uSplit(iter->first, '/').front().compare("OdomICP") == 0)
+					{
+						parameters.erase(iter++);
+					}
+					else
+					{
+						++iter;
+					}
+				}
+			}
+
+			for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.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;
+			}
+			ROS_WARN("Node will now exit after showing default RTAB-Map parameters because "
+					 "argument \"--params\" is detected!");
+			exit(0);
+		}
+	}
+
+	CoreWrapper * rtabmap = new CoreWrapper(deleteDbOnStart);
+
+	ROS_INFO("rtabmap started...");
+	ros::spin();
+
+	delete rtabmap;
+
+	return 0;
+}