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created ros2 branch

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matlabbe
2020-01-30 17:18:48 -05:00
parent d80a66a724
commit e6ea46f5f0
86 changed files with 9079 additions and 9079 deletions
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src/CoreNode.cpp
+13 -21
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@@ -25,25 +25,18 @@ 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 <rtabmap/core/Parameters.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UDirectory.h>
#include "rtabmap_ros/CoreWrapper.h"
#include "rclcpp/rclcpp.hpp"
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/core/Version.h>
#include "nodelet/loader.h"
#include <rtabmap/utilite/UDirectory.h>
int main(int argc, char** argv)
{
ROS_INFO("Starting node...");
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
ros::init(argc, argv, "rtabmap");
nodelet::V_string nargv;
// process "--params" argument
std::vector<std::string> arguments;
for(int i=1;i<argc;++i)
{
if(strcmp(argv[i], "--params") == 0 || strcmp(argv[i], "--params-all") == 0)
@@ -81,19 +74,18 @@ int main(int argc, char** argv)
"]" <<
std::endl;
}
ROS_WARN("Node will now exit after showing default RTAB-Map parameters because "
UWARN("Node will now exit after showing default RTAB-Map parameters because "
"argument \"--params\" is detected!");
exit(0);
}
nargv.push_back(argv[i]);
arguments.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/rtabmap", remap, nargv);
ROS_INFO("rtabmap %s started...", RTABMAP_VERSION);
ros::spin();
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
options.arguments(arguments);
UINFO("rtabmap %s started...", RTABMAP_VERSION);
rclcpp::spin(std::make_shared<rtabmap_ros::CoreWrapper>(options));
rclcpp::shutdown();
return 0;
}