int
main(int argc, char **argv)
{
carmen_ipc_initialize(argc, argv);
carmen_param_check_version(argv[0]);
signal(SIGINT, shutdown_module);
if (argc == 3 && !strcmp("ultrasonic",argv[2]))
read_ultrasonic_sensor_parameters(argc, argv, &laser_params, &map_params);
else
read_laser_parameters(argc, argv, &laser_params, &map_params);
initialize_transforms();
/* Create and initialize a probabilistic map */
init_carmen_map(&map_params, &carmen_map);
init_bean_range_finder_measurement_model(laser_params);
/* Register my own messages */
carmen_grid_mapping_define_messages();
carmen_subscribe_to_relevant_messages();
/* Loop forever waiting for messages */
carmen_ipc_dispatch();
return (0);
}
virtual void execute ()
{
assert (theater == NULL);
assert (current_camouflage == NULL);
assert (current_payload == NULL);
assert (origin_stack.empty ());
if (debug)
std::fprintf (stderr, "Executing incoming!\n");
theater = new osg::Group;
initialize_transforms ();
current_codeword = MAIN;
}
