int main(int argc, char **argv) {
if (argc < 2) {
printf("\nusage: relay TOPIC [VARIANT_TOPIC]\n\n");
return 1;
}
if (!getTopicBase((argv[1]), publisherTopic)) {
ROS_ERROR("Failed to extract topic base from [%s]", argv[1]);
return 1;
}
ros::init(argc, argv, publisherTopic+"_relay",
ros::init_options::AnonymousName);
if (argc == 2)
publisherTopic = std::string(argv[1])+"_relay";
else
publisherTopic = argv[2];
subscriberTopic = argv[1];
nodeHandle.reset(new ros::NodeHandle("~"));
bool unreliable = false;
nodeHandle->getParam("unreliable", unreliable);
nodeHandle->getParam("lazy", lazy);
if (unreliable)
subscriberTransportHints.unreliable().reliable();
subscribe();
ros::spin();
return 0;
}
bool OnInit()
{
// create our own copy of argv, with regular char*s.
local_argv_ = new char*[argc];
for (int i = 0; i < argc; ++i)
{
local_argv_[ i ] = strdup( wxString( argv[ i ] ).mb_str() );
}
ros::init(argc, local_argv_, "remote_monitor");
nh_.reset(new ros::NodeHandle);
//wxInitAllImageHandlers();
CRemoteFrame* frame = new CRemoteFrame(
nh_,
NULL,
wxID_ANY,
wxT("Remote Frame"),
wxDefaultPosition,
wxSize(700, 350),
wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER);
SetTopWindow(frame);
frame->Show();
return true;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "centreview");
n.reset(new ros::NodeHandle);
ros::NodeHandle pn("~");
std::string collection;
std::vector<int> indices;
pn.param<std::string>("collection",collection, "table_centre_group");
pn.getParam("specify_index",indices);
if(collection=="table_centre_group"){
mongodb_store::MessageStoreProxy table_centre_group(*n, collection);
std::vector<boost::shared_ptr<geometry_msgs::Polygon> > result_tables;
table_centre_group.query<geometry_msgs::Polygon>(result_tables);
VIZ_Points vv(n,"/table_centre_group");
std::vector<float> color;
color.push_back(0.0);
color.push_back(1.0);
color.push_back(0.0);
VIZ_Points vv2(n,"/table_centre_group2");
std::vector<float> color2;
color2.push_back(0.0);
color2.push_back(0.0);
color2.push_back(1.0);
VIZ_Points vv3(n,"/table_centre_group3");
std::vector<float> color3;
color3.push_back(1.0);
color3.push_back(0.0);
color3.push_back(0.0);
while (ros::ok()){
vv.pub_polygonASpoints(result_tables,0,color);
vv2.pub_polygonASpoints(result_tables,1,color2);
vv3.pub_polygonASpoints(result_tables,2,color3);
sleep(1);
}
return 0;
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "db_cloud_extraction");
nh.reset(new ros::NodeHandle);
ros::NodeHandle pn("~");
//plane filter
pn.param<float>("normal_angle", normal_angle, 15.0);
//filter1
pn.param<float>("search_radius", search_radius, 0.8);
pn.param<int>("neighbour_required", neighbour_required, 20);
//filter2
pn.param<int>("statistical_knn", statistical_knn, 50);
pn.param<float>("std_dev_dist", std_dev_dist, 1.0);
ros::ServiceServer table_srv = nh->advertiseService("db_table_clouds", extract);
ros::ServiceServer table_srv2 = nh->advertiseService("db_table", extract2);
ros::spin();
}
int main(int argc, char *argv[])
{
/*
* INITIALIZE ROS NODE
*/
ros::init(argc, argv, "perception_node");
ros::NodeHandle priv_nh_("~");
priv_nh_.param<double>("leaf_size", leaf_size_, 0.0f);
// priv_nh_.param<double>("passThrough_max", passThrough_max_, 1.0f);
// priv_nh_.param<double>("passThrough_min", passThrough_min_, -1.0f);
// priv_nh_.param<double>("maxIterations", maxIterations_, 200.0f);
// priv_nh_.param<double>("distThreshold", distThreshold_, 0.01f);
// priv_nh_.param<double>("clustTol", clustTol_, 0.01f);
// priv_nh_.param<double>("clustMax", clustMax_, 10000.0);
// priv_nh_.param<double>("clustMin", clustMin_, 300.0f);
nh_.reset(new ros::NodeHandle());
// ros::ServiceServer server = nh_->advertiseService("filter_cloud", &filterCallback);
ros::spin();
return 0;
}
int main(int argc, char **argv) {
if (argc < 2) {
printf("\nusage: echo TOPIC\n\n");
return 1;
}
if (!getTopicBase((argv[1]), subscriberTopic)) {
ROS_ERROR("Failed to extract topic base from [%s]", argv[1]);
return 1;
}
ros::init(argc, argv, subscriberTopic+"_echo",
ros::init_options::AnonymousName);
subscriberTopic = argv[1];
nodeHandle.reset(new ros::NodeHandle("~"));
subscribe();
ros::spin();
return 0;
}
TurtleApp(int& argc, char** argv)
: QApplication(argc, argv)
{
ros::init(argc, argv, "turtlesim", ros::init_options::NoSigintHandler);
nh_.reset(new ros::NodeHandle);
}
