int main (int argc, char *argv[])
{
ros::init(argc, argv, "orb_matching", ros::init_options::AnonymousName);
ros::start();
ros::NodeHandle nodeHandler ("~");
Matcher orb_matcher (nodeHandler, false);
string odomTopic;
nodeHandler.getParam("odometry_topic", odomTopic);
FusionOdometry odom_pf (nodeHandler, odomTopic);
odom_pf.setPoseFunction (
[&]() -> ObservationList {
ObservationList obs;
tf::Transform visPose = orb_matcher.getCurrentRealPose();
geometry_msgs::PoseWithCovarianceStamped pwv = tfToPoseCovarianceStamped (visPose);
pwv.header.stamp = ros::Time (orb_matcher.getLastLocalizationTimestamp());
obs.push_back(pwv);
return obs;
}
);
ros::spin();
ros::shutdown();
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "simple_task_planner");
ros::NodeHandle nodeHandler("simple_task_planner");
TaskAdvertiser ta(nodeHandler);
ros::spin();
}
int main (int argc, char** argv)
{
// Ros init
ros::init(argc, argv, "computer_load_monitor");
// Node handler
int update_rate;
ros::NodeHandle nodeHandler("~");
nodeHandler.param<int>("update_rate", update_rate, 5);
ros::Rate loopRate(update_rate);
// loads (CPU/Memory)
ros::Publisher memloadPub = nodeHandler.advertise<msgs::FloatStamped>("/fmInformation/memory_load", 5);
msgs::FloatStamped memMsg;
ros::Publisher cpuloadPub = nodeHandler.advertise<msgs::FloatStamped>("/fmInformation/cpu_load", 5);
msgs::FloatStamped cpuMsg;
// Monitor message
// ROS_INFO(" Monitoring CPU and memory load ...");
while (ros::ok() && nodeHandler.ok())
{
// Publish memory load
memMsg.header.stamp = ros::Time::now();
memMsg.data = getMemoryload(readFile(MEMORY_load));
memloadPub.publish(memMsg); // Output is in range 0.0 to 1.0 as memory load
// Publish cpu load
cpuMsg.header.stamp = ros::Time::now();
cpuMsg.data = getCpuload(readFile(CPU_load));
cpuloadPub.publish(cpuMsg); // Output is in range 0.0 to 1.0 as cpu load since last publish (averaged) across all siblings
loopRate.sleep();
}
return 0;
}
