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ros2: Ported imu_to_tf and disparity_to_depth nodelets

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matlabbe
2023-10-14 19:41:34 -07:00
parent 76f2095e67
commit 83c16dcf24
12 changed files with 369 additions and 191 deletions
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rtabmap_util/src/ImuToTFNode.cpp
+7 -16
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@@ -25,24 +25,15 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "ros/ros.h"
#include "nodelet/loader.h"
#include "rtabmap_util/imu_to_tf.hpp"
#include "rtabmap/utilite/ULogger.h"
#include "rclcpp/rclcpp.hpp"
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_util/imu_to_tf", remap, nargv);
ros::spin();
ULogger::setType(ULogger::kTypeConsole);
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<rtabmap_util::ImuToTF>(rclcpp::NodeOptions()));
rclcpp::shutdown();
return 0;
}