int main(int argc, char** argv)
{
ros::init(argc, argv, "lat_lon_tf_echo");
if (argc < 3)
{
ROS_FATAL("No Frame Id specified");
printf("Usage: lat_lon_tf_echo <fixed_frame_id> <target_frame_id>\n");
ros::shutdown();
return 1;
}
std::string fixed_frame(argv[1]);
std::string frame_id(argv[2]);
LatLonTFEchoNode node(ros::NodeHandle(), frame_id, fixed_frame);
ros::spin();
return (0);
}
int main(int argc, char **argv) {
// setup ros
ros::init(argc, argv, "rosplan_simple_map_server");
ros::NodeHandle nh("~");
// params
std::string filename("waypoints.txt");
std::string fixed_frame("map");
nh.param("/waypoint_file", filename, filename);
nh.param("fixed_frame", fixed_frame, fixed_frame);
// init
KCL_rosplan::RPSimpleMapServer sms(nh, fixed_frame);
ros::ServiceServer createPRMService = nh.advertiseService("/kcl_rosplan/roadmap_server/create_prm", &KCL_rosplan::RPSimpleMapServer::generateRoadmap, &sms);
sms.setupRoadmap(filename);
ROS_INFO("KCL: (RPSimpleMapServer) Ready to receive.");
ros::spin();
return 0;
}
