cleanup ros-pkg

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

src/GuiNode.cpp

@@ -0,0 +1,51 @@
+/*
+ * CoreNode.cpp
+ *
+ *  Created on: 2 févr. 2010
+ *      Author: labm2414
+ */
+
+#include "GuiWrapper.h"
+#include "rtabmap/utilite/ULogger.h"
+
+#include <QApplication>
+#include <rtabmap/gui/MainWindow.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <signal.h>
+
+void my_handler(int s){
+	QApplication::closeAllWindows();
+}
+
+int main(int argc, char** argv)
+{
+	ROS_INFO("Starting node...");
+
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kWarning);
+
+	ros::init(argc, argv, "rtabmapviz");
+
+	GuiWrapper gui(argc, argv);
+
+	// Catch ctrl-c to close the gui
+	// (Place this after QApplication's constructor)
+	struct sigaction sigIntHandler;
+	sigIntHandler.sa_handler = my_handler;
+	sigemptyset(&sigIntHandler.sa_mask);
+	sigIntHandler.sa_flags = 0;
+	sigaction(SIGINT, &sigIntHandler, NULL);
+
+	// Here start the ROS events loop
+	ros::AsyncSpinner spinner(4); // Use 4 threads
+	spinner.start();
+
+	ROS_INFO("rtabmapviz started.");
+	// Now wait for application to finish
+	int r = gui.exec();// MUST be called by the Main Thread
+
+	spinner.stop();
+
+	ROS_INFO("rtabmapviz: All done! Closing...");
+	return r;
+}