mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 17:27:46 +08:00
83 lines
2.9 KiB
C++
83 lines
2.9 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "rtabmap_ros/GuiWrapper.h"
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#include "rtabmap/utilite/ULogger.h"
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#include <QApplication>
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#include <rtabmap/gui/MainWindow.h>
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#include <rtabmap/utilite/ULogger.h>
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#include <signal.h>
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QApplication * app = 0;
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ros::AsyncSpinner * spinner = 0;
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void my_handler(int s){
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ROS_INFO("rtabmapviz: ctrl-c catched! Exiting Qt app...");
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spinner->stop();
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exit(-1);
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}
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int main(int argc, char** argv)
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{
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ROS_INFO("Starting node...");
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kWarning);
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ros::init(argc, argv, "rtabmapviz");
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app = new QApplication(argc, argv);
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app->connect( app, SIGNAL( lastWindowClosed() ), app, SLOT( quit() ) );
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rtabmap_ros::GuiWrapper * gui = new rtabmap_ros::GuiWrapper(argc, argv);
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// Catch ctrl-c to close the gui
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// (Place this after QApplication's constructor)
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struct sigaction sigIntHandler;
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sigIntHandler.sa_handler = my_handler;
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sigemptyset(&sigIntHandler.sa_mask);
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sigIntHandler.sa_flags = 0;
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sigaction(SIGINT, &sigIntHandler, NULL);
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// Here start the ROS events loop
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spinner = new ros::AsyncSpinner(1); // Use 1 thread
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spinner->start();
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ROS_INFO("rtabmapviz started.");
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// Now wait for application to finish
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int r = app->exec();// MUST be called by the Main Thread
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spinner->stop();
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delete spinner;
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delete gui;
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delete app;
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ROS_INFO("rtabmapviz: All done! Closing...");
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return r;
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}
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