First version rtabmap_launch working

2026-10-07 18:27:46 +08:00 · 2023-02-19 18:55:24 -08:00
parent 2f4aadacbb
commit 2dd931248e
418 changed files with 5304 additions and 3493 deletions
@@ -0,0 +1,83 @@
+/*
+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_viz/GuiWrapper.h"
+#include "rtabmap/utilite/ULogger.h"
+
+#include <QApplication>
+#include <rtabmap/gui/MainWindow.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <signal.h>
+
+QApplication * app = 0;
+ros::AsyncSpinner * spinner = 0;
+
+void my_handler(int s){
+	ROS_INFO("rtabmapviz: ctrl-c catched! Exiting Qt app...");
+	ros::shutdown();
+	app->exit(-1);
+}
+
+int main(int argc, char** argv)
+{
+	ROS_INFO("Starting node...");
+
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kWarning);
+
+	ros::init(argc, argv, "rtabmapviz");
+
+	app = new QApplication(argc, argv);
+	app->connect( app, SIGNAL( lastWindowClosed() ), app, SLOT( quit() ) );
+
+	rtabmap_viz::GuiWrapper * gui = new rtabmap_viz::GuiWrapper(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
+	spinner = new ros::AsyncSpinner(1); // Use 1 thread
+	spinner->start();
+
+	ROS_INFO("rtabmapviz started.");
+	// Now wait for application to finish
+	int r = app->exec();// MUST be called by the Main Thread
+
+	ROS_INFO("rtabmapviz stopping spinner...");
+	delete spinner;
+
+	ROS_INFO("rtabmapviz deleting qt stuff...");
+	delete gui;
+	delete app;
+	ROS_INFO("rtabmapviz: All done! Closing...");
+	return r;
+}