mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 09:17:47 +08:00
98 lines
3.6 KiB
C++
98 lines
3.6 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 "ros/ros.h"
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#include <rtabmap/core/Parameters.h>
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#include <rtabmap/utilite/ULogger.h>
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#include <rtabmap/utilite/UDirectory.h>
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#include <rtabmap/utilite/UStl.h>
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#include <rtabmap/utilite/UFile.h>
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#include <rtabmap/core/Version.h>
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#include "nodelet/loader.h"
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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, "rtabmap");
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nodelet::V_string nargv;
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for(int i=1;i<argc;++i)
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{
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if(strcmp(argv[i], "--params") == 0 || strcmp(argv[i], "--params-all") == 0)
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{
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rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
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uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kRGBDCreateOccupancyGrid(), "true")); // default true in ROS
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uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapWorkingDirectory(), UDirectory::homeDir()+"/.ros")); // change default to ~/.ros
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if(strcmp(argv[i], "--params") == 0)
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{
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// hide specific parameters
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for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end();)
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{
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if(iter->first.find("Odom") == 0)
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{
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parameters.erase(iter++);
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}
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else
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{
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++iter;
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}
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}
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}
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for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
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{
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std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
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std::cout <<
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str <<
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std::setw(60 - str.size()) <<
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" [" <<
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rtabmap::Parameters::getDescription(iter->first).c_str() <<
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"]" <<
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std::endl;
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}
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ROS_WARN("Node will now exit after showing default RTAB-Map parameters because "
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"argument \"--params\" is detected!");
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exit(0);
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}
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nargv.push_back(argv[i]);
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}
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nodelet::Loader nodelet;
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nodelet::M_string remap(ros::names::getRemappings());
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std::string nodelet_name = ros::this_node::getName();
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nodelet.load(nodelet_name, "rtabmap_ros/rtabmap", remap, nargv);
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ROS_INFO("rtabmap %s started...", RTABMAP_VERSION);
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ros::spin();
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return 0;
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}
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