int main(int argc, char *argv[]) { unsigned int seed; carmen_initialize_ipc(argv[0]); carmen_param_check_version(argv[0]); IPC_setVerbosity(IPC_Print_Warnings); seed = carmen_randomize(&argc, &argv); carmen_warn("Seed: %u\n", seed); carmen_simulator_subscribe_truepos_message (&truepose, NULL, CARMEN_SUBSCRIBE_LATEST); carmen_simulator_subscribe_objects_message (NULL, (carmen_handler_t)simulator_objects_handler, CARMEN_SUBSCRIBE_LATEST); map = (carmen_map_t *)calloc(1, sizeof(carmen_map_t)); carmen_test_alloc(map); carmen_map_get_gridmap(map); IPC_dispatch(); return 0; }
void Carmen_Thread::register_handlers() { carmen_map_t map; carmen_map_get_gridmap(&map); set_map(&map); emit_map_changed_signal(map); carmen_map_subscribe_gridmap_update_message( NULL, (carmen_handler_t)map_handler, CARMEN_SUBSCRIBE_LATEST); carmen_grid_mapping_subscribe_message(NULL, (carmen_handler_t)grid_map_handler, CARMEN_SUBSCRIBE_LATEST); carmen_localize_ackerman_subscribe_globalpos_message( NULL, (carmen_handler_t)globalpos_handler, CARMEN_SUBSCRIBE_LATEST); carmen_simulator_ackerman_subscribe_truepos_message( NULL, (carmen_handler_t)truepos_handler, CARMEN_SUBSCRIBE_LATEST); carmen_simulator_subscribe_truepos_message( NULL, (carmen_handler_t)truepos_handler_diff, CARMEN_SUBSCRIBE_LATEST); carmen_localize_ackerman_subscribe_particle_message( NULL, (carmen_handler_t)particle_handler, CARMEN_SUBSCRIBE_LATEST); carmen_localize_subscribe_globalpos_message( NULL, (carmen_handler_t)globalpos_handler_diff, CARMEN_SUBSCRIBE_LATEST); carmen_laser_subscribe_frontlaser_message( NULL, (carmen_handler_t)laser_handler, CARMEN_SUBSCRIBE_LATEST); carmen_localize_ackerman_subscribe_sensor_message( NULL, (carmen_handler_t)localize_laser_handler, CARMEN_SUBSCRIBE_LATEST); carmen_navigator_ackerman_subscribe_plan_message( NULL, (carmen_handler_t)plan_handler, CARMEN_SUBSCRIBE_LATEST); carmen_navigator_subscribe_plan_message( NULL, (carmen_handler_t)plan_handler, CARMEN_SUBSCRIBE_LATEST); carmen_navigator_ackerman_subscribe_status_message( NULL, (carmen_handler_t) navigator_status_handler, CARMEN_SUBSCRIBE_LATEST); IPC_setMsgQueueLength(CARMEN_GRID_MAPPING_MESSAGE_NAME, 1); carmen_rrt_planner_subscribe_robot_tree_message( NULL, (carmen_handler_t)rrt_planner_robot_tree_handler, CARMEN_SUBSCRIBE_LATEST); carmen_rrt_planner_subscribe_goal_tree_message( NULL, (carmen_handler_t)rrt_planner_goal_tree_handler, CARMEN_SUBSCRIBE_LATEST); carmen_rrt_planner_subscribe_status_message( NULL, (carmen_handler_t)rrt_status_handler, CARMEN_SUBSCRIBE_LATEST); }