void QtROS::run(){
ros::Rate r(30);
while(ros::ok() && !quitfromgui) {
ros::spinOnce();
r.sleep();}
if (!quitfromgui) {
emit rosQuits();
ROS_INFO("ROS-Node Terminated\n"); }}
void QtROS::run(){
ros::Rate r(30); // 30 hz. Kinect has 30hz and we are far from processing every frame anyhow.
while(ros::ok() && !quitfromgui) {
ros::spinOnce();
r.sleep();}
if (!quitfromgui) {
Q_EMIT rosQuits();
ROS_INFO("ROS-Node Terminated\n");
ros::shutdown();//Not sure if necessary
}
}
void RosComunication::run()
{
ros::Rate rate(15);
while (ros::ok() && !hasToQuit)
{
ros::spinOnce();
rate.sleep();
}
if (!hasToQuit)
{
emit rosQuits();
}
}
/** On program startup:
* Create
* - a Qt Application
* - an Object representing the ROS Node and its callback loop,
* - an OpenNIListener, setting up subscribers and callbacks for various formats of RGBD data
* - a GraphManager, getting Nodes constructed from the RGBD data
* - A Class providing a service call interface for ROS
* - If applicable also a GUI
* - let the above communicate internally via QT Signals, where communcication needs to be across threads or if the communication is conditional on the ROS node's parameterization.
*/
int main(int argc, char** argv)
{
setlocale(LC_NUMERIC,"C");//Avoid expecting german decimal separators in launch files
//create thread object, to run the ros event processing loop in parallel to the qt loop
QtROS qtRos(argc, argv, "rgbdslam"); //ros node name & namespace
//Depending an use_gui on the Parameter Server, a gui- or a headless application is used
QApplication app(argc, argv, ParameterServer::instance()->get<bool>("use_gui"));
GraphManager graph_mgr;
//Instantiate the kinect image listener
OpenNIListener listener(&graph_mgr);
std::string bagfile_name = ParameterServer::instance()->get<std::string>("bagfile_name");
if(!bagfile_name.empty())
{
QObject::connect(&listener, SIGNAL(bagFinished()), &app, SLOT(quit()));
QObject::connect(&listener, SIGNAL(bagFinished()), &qtRos, SLOT(quitNow()));
QtConcurrent::run(&listener, &OpenNIListener::loadBag, bagfile_name);
}
Graphical_UI* gui = NULL;
if (app.type() == QApplication::GuiClient){
gui = new Graphical_UI();
gui->show();
gui_connections(gui, &graph_mgr, &listener);
ui_connections(gui, &graph_mgr, &listener);//common connections for the user interfaces
} else {
ROS_WARN("Running without graphical user interface! See README or wiki page for how to interact with RGBDSLAM.");
}
//Create Ros service interface with or without gui
RosUi ui("rgbdslam"); //ui namespace for service calls
ui_connections(&ui, &graph_mgr, &listener);//common connections for the user interfaces
//If one thread receives a exit signal from the user, signal the other thread to quit too
QObject::connect(&app, SIGNAL(aboutToQuit()), &qtRos, SLOT(quitNow()));
QObject::connect(&qtRos, SIGNAL(rosQuits()), &app, SLOT(quit()));
qtRos.start();// Run main loop.
app.exec();
//if(ros::ok()) ros::shutdown();//If not yet done through the qt connection
//ros::waitForShutdown(); //not sure if necessary.
}
