int main(int argc, char **argv){
  ros::init(argc, argv, "apriltag_detector");
  ros::NodeHandle nh;
  ros::NodeHandle pnh("~");
  apriltags_ros::AprilTagDetector detector(nh, pnh);
  ros::spin();
}
Пример #2
0
Marker6DOF(): show_6dof_circle_(true) {
  ros::NodeHandle nh, pnh("~");
  pnh.param("frame_id", frame_id_, std::string("/map"));
  pnh.param("object_type", object_type_, std::string("sphere"));
  pnh.param("object_x", object_x_, 1.0);
  pnh.param("object_y", object_y_, 1.0);
  pnh.param("object_z", object_z_, 1.0);
  pnh.param("object_r", object_r_, 1.0);
  pnh.param("object_g", object_g_, 1.0);
  pnh.param("object_b", object_b_, 1.0);
  pnh.param("object_a", object_a_, 1.0);
  pnh.param("line_width", line_width_, 0.007);
  latest_pose_.header.frame_id = frame_id_;
  latest_pose_.pose.orientation.w = 1.0;
  pose_pub_ = pnh.advertise<geometry_msgs::PoseStamped>("pose", 1);
  pose_stamped_sub_ = pnh.subscribe("move_marker", 1, &Marker6DOF::moveMarkerCB, this);
  
  circle_menu_entry_
    = menu_handler_.insert("Toggle 6DOF Circle",
                           boost::bind(&Marker6DOF::menuFeedbackCB, this, _1));
  menu_handler_.setCheckState(circle_menu_entry_,
                              interactive_markers::MenuHandler::CHECKED);
  server_.reset( new interactive_markers::InteractiveMarkerServer(ros::this_node::getName()));
  initializeInteractiveMarker();
}
  LaserScanFilter()
  {
    ros::NodeHandle nh;

    scan_sub_ = nh.subscribe("hokuyo_scan", 1, &LaserScanFilter::scanCallback, this);
    scan_filtered_pub_ = nh.advertise<sensor_msgs::LaserScan>("hokuyo_scan_filtered",1,false);

    ros::NodeHandle pnh("~");
    XmlRpc::XmlRpcValue my_list;
    pnh.getParam("filter_index_list", my_list);
    if (my_list.getType() != XmlRpc::XmlRpcValue::TypeArray) ros::shutdown();


    for (int32_t i = 0; i < my_list.size(); ++i)
    {
      if (my_list[i].getType() != XmlRpc::XmlRpcValue::TypeArray) ros::shutdown();

      int min = my_list[i][0];
      int max = my_list[i][1];

      addFilterIndices(min, max);

      ROS_INFO("scan filter index interval %d : min: %d max: %d",i, min, max);
    }
  }
Пример #4
0
 Footcoords::Footcoords():
   diagnostic_updater_(new diagnostic_updater::Updater)
 {
   ros::NodeHandle nh, pnh("~");
   lforce_list_.resize(0);
   rforce_list_.resize(0);
   tf_listener_.reset(new tf::TransformListener());
   ground_transform_.setRotation(tf::Quaternion(0, 0, 0, 1));
   midcoords_.setRotation(tf::Quaternion(0, 0, 0, 1));
   diagnostic_updater_->setHardwareID("none");
   diagnostic_updater_->add("Support Leg Status", this, 
                            &Footcoords::updateLegDiagnostics);
   // read parameter
   pnh.param("alpha", alpha_, 0.5);
   pnh.param("sampling_time_", sampling_time_, 0.2);
   pnh.param("output_frame_id", output_frame_id_,
             std::string("odom_on_ground"));
   pnh.param("parent_frame_id", parent_frame_id_, std::string("odom"));
   pnh.param("midcoords_frame_id", midcoords_frame_id_, std::string("ground"));
   pnh.param("lfoot_frame_id", lfoot_frame_id_,
             std::string("lleg_end_coords"));
   pnh.param("rfoot_frame_id", rfoot_frame_id_,
             std::string("rleg_end_coords"));
   pnh.param("force_threshold", force_thr_, 100.0);
   pub_state_ = pnh.advertise<std_msgs::String>("state", 1);
   pub_contact_state_ = pnh.advertise<jsk_footstep_controller::GroundContactState>("contact_state", 1);
   before_on_the_air_ = true;
   sub_lfoot_force_.subscribe(nh, "lfsensor", 1);
   sub_rfoot_force_.subscribe(nh, "rfsensor", 1);
   sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
   sync_->connectInput(sub_lfoot_force_, sub_rfoot_force_);
   sync_->registerCallback(boost::bind(&Footcoords::filter, this, _1, _2));
 }
Пример #5
0
int main(int argc, char **argv)
{
  // Set up ROS.
  ros::init(argc, argv, "listener");
  ros::NodeHandle nh;

  // Declare variables that can be modified by launch file or command line.
  int rate;

  // Initialize node parameters from launch file or command line.
  // Use a private node handle so that multiple instances of the node can be run simultaneously
  // while using different parameters.
  ros::NodeHandle pnh("~");
  pnh.param("rate", rate, int(40));

  // Create a new NodeExample object.
  //NodeExample *node_example = new NodeExample();

  // Create a subscriber.
  // Name the topic, message queue, callback function with class name, and object containing callback function.
  ros::Subscriber sub_message = nh.subscribe("example", 1000, &messageCallback);

  // Tell ROS how fast to run this node.
  ros::Rate r(rate);

  // Main loop.
  while (nh.ok())
  {
    ros::spinOnce();
    r.sleep();
  }

  return 0;
} // end main()
int main(int argc, char **argv) {
	ros::init(argc, argv, "oryx_diagnostics_client");
	ros::NodeHandle nh;
	ros::NodeHandle pnh("~");

	ros::ServiceClient client = nh.serviceClient<oryx_diagnostics::DiagnosticsCommand>("oryx/diagnostics/commands");

	std::string command;
	std::string arguments;

	pnh.getParam("command", command);
	pnh.getParam("arg", arguments);

	if(command == "") ROS_WARN("No Command Given!");
	else{
		oryx_diagnostics::DiagnosticsCommand msg;
		msg.request.command = command;
		msg.request.data = arguments;
		if(client.call(msg.request, msg.response)){
			if(msg.response.success)
			{
				ROS_INFO("%s", msg.response.data.c_str());
			}
			else
			{
				ROS_WARN("Error With Command: %s", msg.response.data.c_str());
			}

		}
		else
		{
			ROS_ERROR("Could Not Communicate With Server!");
		}
	}
}
Пример #7
0
int main(int argc, char **argv)
{

  ros::init(argc, argv, "pid_listener");
  ros::NodeHandle nh;

  int rate;

  ros::NodeHandle pnh("~");
  pnh.param("rate", rate, int(40));

  LinoPID *lino_pid = new LinoPID();

  ros::Subscriber sub_message = nh.subscribe("pid", 1000, &LinoPID::messageCallback, lino_pid);

  ros::Rate r(rate);

  // Main loop.
  while (nh.ok())
  {
    ros::spinOnce();
    r.sleep();
  }

  return 0;
} // end main()
PointCloudProjector::PointCloudProjector(ros::NodeHandle nh) :
    pointcloud_sub(nh, "pointcloud", 1),
    patch_sub(nh, "patches", 1),
    sync(ExactSyncPolicy(50), pointcloud_sub, patch_sub)
{
    patches_out = nh.advertise<samplereturn_msgs::PatchArray>("positioned_patches", 1);
    debug_points_out = nh.advertise<sensor_msgs::PointCloud2>("debug_pointcloud", 1);
    debug_marker_out = nh.advertise<visualization_msgs::MarkerArray>("debug_marker", 1);
    sync.registerCallback(boost::bind(&PointCloudProjector::synchronized_callback, this, _1, _2));
    ros::NodeHandle pnh("~");
    pnh.param("clipping_frame_id", clipping_frame_id_, std::string("base_link"));
    pnh.param("output_frame_id", output_frame_id_, std::string("odom"));
    if(pnh.param("start_enabled", true))
    {
        enabled_ = true;
        pointcloud_sub.subscribe(nh, "pointcloud", 1);
        patch_sub.subscribe(nh, "patches", 1);
    }
    else
    {
        enabled_ = false;
    }
    reconfigure_server.setCallback(boost::bind(&PointCloudProjector::configure_callback, this,  _1, _2));
    enable_service = pnh.advertiseService( "enable", &PointCloudProjector::enable, this);
}
int main(int argc, char** argv)
{
  ros::init(argc, argv, "image_publisher");
  ros::NodeHandle nh, pnh("~");

  FakeCameraParams params = loadParams(pnh);

  image_transport::ImageTransport it(nh);
  image_transport::Publisher pub =
      it.advertise(params.topic+"/image", 1);

  ros::Publisher info_pub =
      nh.advertise<sensor_msgs::CameraInfo>(params.topic+"/camera_info", 1);
  sensor_msgs::CameraInfo info = loadCameraInfo(params);

  cv::Mat image =
      cv::Mat(params.width, params.height, CV_8UC3, cv::Scalar(50,50,50));
  sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
  msg->header.frame_id = params.frame;
  msg->header.stamp = ros::Time::now();

  ros::Rate loop_rate(params.rate);

  while (nh.ok()) {
    msg->header.stamp = ros::Time::now();
    info.header.stamp = ros::Time::now();
    pub.publish(msg);
    info_pub.publish(info);
    ros::spinOnce();
    loop_rate.sleep();
  }
}
  PathCollisionChecker()
  {
    ros::NodeHandle nh_;

    dyn_rec_server_.setCallback(boost::bind(&PathCollisionChecker::dynRecParamCallback, this, _1, _2));

    //grid_map_polygon_tools::setFootprintPoly(0.2, 0.2, this->footprint_poly_);

    grid_map_polygon_tools::printPolyInfo(this->footprint_poly_);

    //traversability_map_sub_ = nh_.subscribe("/dynamic_map", 2, &PathCollisionChecker::traversabilityMapCallback, this);

    //safe_twist_pub_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel_safe", 1, false);

    ros::NodeHandle pnh("~");
    marker_pub_ = pnh.advertise<visualization_msgs::MarkerArray>("path_collision_check_markers", 1,false);

    debug_pose_ = pnh.advertise<geometry_msgs::PoseStamped>("/collision_pose",5, false);

    pose_sub_ = pnh.subscribe("/robot_pose", 1, &PathCollisionChecker::poseCallback, this);

    local_elevation_map_sub_ = pnh.subscribe("/elevation_mapping/elevation_map", 1, &PathCollisionChecker::localElevationMapCallback, this);

    path_sub_ = pnh.subscribe("/smooth_path", 1, &PathCollisionChecker::pathCallback, this);


    add_object_client_ = pnh.serviceClient<hector_worldmodel_msgs::AddObject>("/worldmodel/add_object", false);
    pose_percept_publisher_ = pnh.advertise<hector_worldmodel_msgs::PosePercept>("/worldmodel/pose_percept", 5, false);
  }
int main(int argc, char **argv){
  ros::init(argc, argv, "cascade_classifier");
  ros::NodeHandle nh;
  ros::NodeHandle pnh("~");
  vision::CascadeClassifier classifier(nh, pnh);
  ros::spin();
}
void RollPitchYawrateThrustControllerNode::InitializeParams() {
  ros::NodeHandle pnh("~");

  // Read parameters from rosparam.
  GetRosParameter(pnh, "attitude_gain/x",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.x(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.x());
  GetRosParameter(pnh, "attitude_gain/y",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.y(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.y());
  GetRosParameter(pnh, "attitude_gain/z",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.z(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.z());
  GetRosParameter(pnh, "angular_rate_gain/x",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.x(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.x());
  GetRosParameter(pnh, "angular_rate_gain/y",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.y(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.y());
  GetRosParameter(pnh, "angular_rate_gain/z",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.z(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.z());
  GetVehicleParameters(pnh, &roll_pitch_yawrate_thrust_controller_.vehicle_parameters_);
  roll_pitch_yawrate_thrust_controller_.InitializeParameters();
}
int main(int argc, char** argv)
{
  ros::init(argc, argv, "gps_to_pose_conversion_node");
  ros::NodeHandle nh;
  ros::NodeHandle pnh("~");

  g_got_imu = false;
  g_got_altitude = false;

  // Use different coordinate transform if using simulator
  if (!pnh.getParam("is_sim", g_is_sim)) {
    ROS_WARN("Could not fetch 'sim' param, defaulting to 'false'");
    g_is_sim = false;
  }

  // FIXME: if parameters not found and using defaults, throw a ROS_WARN

  // Specify whether covariances should be set manually or from GPS
  ros::param::param("~trust_gps", g_trust_gps, false);

  // Get manual parameters
  ros::param::param("~fixed_covariance/position/x", g_covariance_position_x, 4.0);
  ros::param::param("~fixed_covariance/position/y", g_covariance_position_y, 4.0);
  ros::param::param("~fixed_covariance/position/z", g_covariance_position_z, 100.0);
  ros::param::param("~fixed_covariance/orientation/x", g_covariance_orientation_x, 0.02);
  ros::param::param("~fixed_covariance/orientation/y", g_covariance_orientation_y, 0.02);
  ros::param::param("~fixed_covariance/orientation/z", g_covariance_orientation_z, 0.11);

  // Wait until GPS reference parameters are initialized.
  double latitude, longitude, altitude;
  do {
    ROS_INFO("Waiting for GPS reference parameters...");
    if (nh.getParam("/gps_ref_latitude", latitude) && nh.getParam("/gps_ref_longitude", longitude)
        && nh.getParam("/gps_ref_altitude", altitude)) {
      g_geodetic_converter.initialiseReference(latitude, longitude, altitude);
    } else {
      ROS_INFO("GPS reference not ready yet, use set_gps_reference_node to set it");
      ros::Duration(0.5).sleep();  // sleep for half a second
    }
  } while (!g_geodetic_converter.isInitialised());

  // Show reference point
  double initial_latitude, initial_longitude, initial_altitude;
  g_geodetic_converter.getReference(&initial_latitude, &initial_longitude, &initial_altitude);
  ROS_INFO("GPS reference initialized correctly %f, %f, %f", initial_latitude, initial_longitude,
           initial_altitude);

  // Initialize publishers
  g_gps_pose_pub = nh.advertise < geometry_msgs::PoseWithCovarianceStamped > ("gps_pose", 1);
  g_gps_transform_pub = nh.advertise < geometry_msgs::TransformStamped > ("gps_transform", 1);
  g_gps_position_pub = nh.advertise < geometry_msgs::PointStamped > ("gps_position", 1);

  // Subscribe to IMU and GPS fixes, and convert in GPS callback
  ros::Subscriber imu_sub = nh.subscribe("imu", 1, &imu_callback);
  ros::Subscriber gps_sub = nh.subscribe("gps", 1, &gps_callback);
  ros::Subscriber altitude_sub = nh.subscribe("external_altitude", 1, &altitude_callback);

  ros::spin();
}
  DrivingAidMarker()
  {

    ros::NodeHandle pnh("~");

    pnh.param("left_side_y_outer", p_left_side_y_outer_, 0.0);
    pnh.param("left_side_y_inner", p_left_side_y_inner_, 0.0);
    pnh.param("right_side_y_outer", p_right_side_y_outer_, 0.0);
    pnh.param("right_side_y_inner", p_right_side_y_inner_, 0.0);
    pnh.param("offset_z", p_offset_z_, -0.112-0.07);

    pub_timer_ = pnh.createTimer(ros::Duration(0.1), &DrivingAidMarker::pubTimerCallback, this, false);
    marker_pub_ = pnh.advertise<visualization_msgs::MarkerArray>("driving_aid", 1,false);

    visualization_msgs::Marker marker;
    //marker.header.stamp = req.point.header.stamp;
    marker.header.frame_id = "/base_link";
    marker.type = visualization_msgs::Marker::LINE_LIST;
    marker.action = visualization_msgs::Marker::ADD;
    marker.color.r= 1.0;
    marker.color.a = 1.0;
    marker.scale.x = 0.02;
    marker.ns ="wheel_footprint";
    marker.action = visualization_msgs::Marker::ADD;
    marker.pose.orientation.w = 1.0;

    std::vector<geometry_msgs::Point> point_vector;

    geometry_msgs::Point tmp;
    tmp.x = -1.5;
    tmp.z = p_offset_z_;
    tmp.y = p_left_side_y_outer_;
    point_vector.push_back(tmp);
    tmp.x = 1.5;
    point_vector.push_back(tmp);

    tmp.x = -1.5;
    tmp.y = p_left_side_y_inner_;
    point_vector.push_back(tmp);
    tmp.x = 1.5;
    point_vector.push_back(tmp);

    tmp.x = -1.5;
    tmp.y = p_right_side_y_outer_;
    point_vector.push_back(tmp);
    tmp.x = 1.5;
    point_vector.push_back(tmp);

    tmp.x = -1.5;
    tmp.y = p_right_side_y_inner_;
    point_vector.push_back(tmp);
    tmp.x = 1.5;
    point_vector.push_back(tmp);


    marker.points = point_vector;

    marker_array_.markers.push_back(marker);
  }
int main(int argc, char *argv[]) {
  ros::init(argc, argv, "health_analyzer");
  ros::NodeHandle nh;
  ros::NodeHandle pnh("~");
  HealthAnalyzer analyzer(nh, pnh);
  ros::spin();
  return 0;
}
HilSensorLevelInterface::HilSensorLevelInterface(const Eigen::Quaterniond& q_S_B) {
  ros::NodeHandle pnh("~");

  // Retrieve the necessary parameters.
  double gps_freq;
  std::string air_speed_sub_topic;
  std::string gps_sub_topic;
  std::string ground_speed_sub_topic;
  std::string imu_sub_topic;
  std::string mag_sub_topic;
  std::string pressure_sub_topic;

  pnh.param("gps_frequency", gps_freq, kDefaultGpsFrequency);
  pnh.param("air_speed_topic", air_speed_sub_topic, std::string(mav_msgs::default_topics::AIR_SPEED));
  pnh.param("gps_topic", gps_sub_topic, std::string(mav_msgs::default_topics::GPS));
  pnh.param("ground_speed_topic", ground_speed_sub_topic, std::string(mav_msgs::default_topics::GROUND_SPEED));
  pnh.param("imu_topic", imu_sub_topic, std::string(mav_msgs::default_topics::IMU));
  pnh.param("mag_topic", mag_sub_topic, std::string(mav_msgs::default_topics::MAGNETIC_FIELD));
  pnh.param("pressure_topic", pressure_sub_topic, kDefaultPressureSubTopic);

  // Compute the desired interval between published GPS messages.
  gps_interval_nsec_ = static_cast<uint64_t>(kSecToNsec / gps_freq);

  // Compute the rotation matrix to rotate data into NED frame
  q_S_B_ = q_S_B;
  R_S_B_ = q_S_B_.matrix().cast<float>();

  // Initialize the subscribers.
  air_speed_sub_ =
      nh_.subscribe<geometry_msgs::TwistStamped>(
          air_speed_sub_topic, 1, boost::bind(
              &HilListeners::AirSpeedCallback, &hil_listeners_, _1, &hil_data_));

  gps_sub_ =
      nh_.subscribe<sensor_msgs::NavSatFix>(
          gps_sub_topic, 1, boost::bind(
              &HilListeners::GpsCallback, &hil_listeners_, _1, &hil_data_));

  ground_speed_sub_ =
      nh_.subscribe<geometry_msgs::TwistStamped>(
          ground_speed_sub_topic, 1, boost::bind(
              &HilListeners::GroundSpeedCallback, &hil_listeners_, _1, &hil_data_));

  imu_sub_ =
      nh_.subscribe<sensor_msgs::Imu>(
          imu_sub_topic, 1, boost::bind(
              &HilListeners::ImuCallback, &hil_listeners_, _1, &hil_data_));

  mag_sub_ =
      nh_.subscribe<sensor_msgs::MagneticField>(
          mag_sub_topic, 1, boost::bind(
              &HilListeners::MagCallback, &hil_listeners_, _1, &hil_data_));

  pressure_sub_ =
      nh_.subscribe<sensor_msgs::FluidPressure>(
          pressure_sub_topic, 1, boost::bind(
              &HilListeners::PressureCallback, &hil_listeners_, _1, &hil_data_));
}
	ServoStatePublisher() :
		nh()
	{
		ros::NodeHandle priv_nh("~");

		XmlRpc::XmlRpcValue param_dict;
		priv_nh.getParam("", param_dict);

		ROS_ASSERT(param_dict.getType() == XmlRpc::XmlRpcValue::TypeStruct);

		urdf::Model model;
		model.initParam("robot_description");
		ROS_INFO("SSP: URDF robot: %s", model.getName().c_str());

		for (auto &pair : param_dict) {
			ROS_DEBUG("SSP: Loading joint: %s", pair.first.c_str());

			// inefficient, but easier to program
			ros::NodeHandle pnh(priv_nh, pair.first);

			bool rc_rev;
			int rc_channel, rc_min, rc_max, rc_trim, rc_dz;

			if (!pnh.getParam("rc_channel", rc_channel)) {
				ROS_ERROR("SSP: '%s' should provice rc_channel", pair.first.c_str());
				continue;
			}

			pnh.param("rc_min", rc_min, 1000);
			pnh.param("rc_max", rc_max, 2000);
			if (!pnh.getParam("rc_trim", rc_trim)) {
				rc_trim = rc_min + (rc_max - rc_min) / 2;
			}

			pnh.param("rc_dz", rc_dz, 0);
			pnh.param("rc_rev", rc_rev, false);

			auto joint = model.getJoint(pair.first);
			if (!joint) {
				ROS_ERROR("SSP: URDF: there no joint '%s'", pair.first.c_str());
				continue;
			}
			if (!joint->limits) {
				ROS_ERROR("SSP: URDF: joint '%s' should provide <limit>", pair.first.c_str());
				continue;
			}

			double lower = joint->limits->lower;
			double upper = joint->limits->upper;

			servos.emplace_back(pair.first, lower, upper, rc_channel, rc_min, rc_max, rc_trim, rc_dz, rc_rev);
			ROS_INFO("SSP: joint '%s' (RC%d) loaded", pair.first.c_str(), rc_channel);
		}

		rc_out_sub = nh.subscribe("rc_out", 10, &ServoStatePublisher::rc_out_cb, this);
		joint_states_pub = nh.advertise<sensor_msgs::JointState>("joint_states", 10);
	}
Пример #18
0
Marker6DOF() {
  ros::NodeHandle nh, pnh("~");
  pnh.param("frame_id", frame_id_, std::string("/map"));
  pose_pub_ = pnh.advertise<geometry_msgs::PoseStamped>("pose", 1);
  pose_stamped_sub_ = pnh.subscribe("move_marker", 1, &Marker6DOF::moveMarkerCB, this);
    
    
  server_.reset( new interactive_markers::InteractiveMarkerServer(ros::this_node::getName()));
  initializeInteractiveMarker();
}
Пример #19
0
OdometryROS::~OdometryROS()
{
	ros::NodeHandle pnh("~");
	for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
	{
		pnh.deleteParam(iter->first);
	}

	delete odometry_;
}
Пример #20
0
	OdomMsgToTF() :
		frameId_(""),
		odomFrameId_("")
	{
		ros::NodeHandle pnh("~");
		pnh.param("frame_id", frameId_, frameId_);
		pnh.param("odom_frame_id", odomFrameId_, odomFrameId_);

		ros::NodeHandle nh;
		odomTopic_ = nh.subscribe("odom", 1, &OdomMsgToTF::odomReceivedCallback, this);
	}
Пример #21
0
int main(int argc, char** argv) {
  ros::init(argc, argv, "gps_odom");
  ros::NodeHandle nh, pnh("~");
  try {
    gps_odom::Node node(nh, pnh);
    ros::spin();
  }
  catch (const std::exception& e) {
    ROS_ERROR("%s: %s", pnh.getNamespace().c_str(), e.what());
  }
}
int main(int argc, char** argv)
{
  pcl::console::setVerbosityLevel(pcl::console::L_ERROR);
  ros::init(argc, argv, "footstep_planner");
  ros::NodeHandle pnh("~");
#if DEBUG
  jsk_footstep_planner::pub_debug_marker = pnh.advertise<visualization_msgs::MarkerArray>("debug_marker_array", 1);
#endif
  jsk_footstep_planner::FootstepPlanner planner(pnh);
  ros::spin();
}
int main(int argc, char **argv) {
  ros::init(argc, argv, "apriltag_detector_node");
  ros::NodeHandle pnh("~");

  try {
    apriltag_ros::ApriltagDetectorNode node(pnh);
    ros::spin();
  } catch (const std::exception &e) {
    ROS_ERROR("%s: %s", pnh.getNamespace().c_str(), e.what());
  }
}
int main(int argc, char **argv){

  ros::init(argc, argv, "astra_camera");
  ros::NodeHandle n;
  ros::NodeHandle pnh("~");

  astra_wrapper::AstraDriver drv(n, pnh);

  ros::spin();

  return 0;
}
int main(int argc, char **argv)
{
  ros::init(argc,argv,"worldmodel_main");
  ros::NodeHandle nh;
  ros::NodeHandle pnh("~");

  vigir_worldmodel::WorldmodelCore wc(nh,pnh);

  ros::spin();

  return 0;
}
int main(int argc, char **argv){

  ros::init(argc, argv, "openni2_camera");
  ros::NodeHandle n;
  ros::NodeHandle pnh("~");

  head_time_calibration_tools::HeadTimeCalibration htc(n, pnh);

  ros::spin();

  return 0;
}
Пример #27
0
int main(int argc, char **argv)
{
  ros::init(argc, argv, "motors");

  ros::NodeHandle pnh("~");

  motors::Node node(pnh);

  ros::spin();

  return 0;
}
Пример #28
0
int main(int argc, char **argv)
{
		ros::init(argc, argv, "cloud_get_surface");

		ros::NodeHandle nh;
		ros::NodeHandle pnh("~");

		// the first string is the variable name used by roslaunch, followed by variable value defined by roslaunch, and the default value
		pnh.param("max_plane_cloud_topic", pointCloudMaxPlaneTopic_, pointCloudMaxPlaneTopic_);
		pnh.param("max_plane_pose_topic", poseMaxPlaneTopic_, poseMaxPlaneTopic_);
		pnh.param("ground_cloud_topic", pointCloudGroundTopic_, pointCloudGroundTopic_);
		pnh.param("ground_pose_topic", poseGroundTopic_, poseGroundTopic_);
		pnh.param("camera_pitch_offset", OFFSET, OFFSET);
		pnh.param("ground_to_base_height", GH, GH);

		posePubPlaneMax_ = nh.advertise<geometry_msgs::PoseStamped>(poseMaxPlaneTopic_, 1);
		cloudPubPlaneMax_ = nh.advertise<sensor_msgs::PointCloud2>(pointCloudMaxPlaneTopic_, 1);
		posePubGround_ = nh.advertise<geometry_msgs::PoseStamped>(poseGroundTopic_, 1);
		cloudPubGround_ = nh.advertise<sensor_msgs::PointCloud2>(pointCloudGroundTopic_, 1);

		feedbackGetSurfaceType_ = nh.advertise<std_msgs::Int8>("status/get/surface/feedback", 1);

    ros::Subscriber sub_roll = nh.subscribe<std_msgs::Float32>("/camera_pitch", 1, rollCallback);
    ros::Subscriber sub = nh.subscribe<PointCloud>("/point_cloud", 1, cloudCallback);

    while (ros::ok())
        {
            if (ros::param::has("camera_pitch_offset"))
                ros::param::get("camera_pitch_offset", OFFSET);

            if (ros::param::has("ground_to_base_height"))
                ros::param::get("ground_to_base_height", GH);

            if (ros::param::has(param_running_mode))
                ros::param::get(param_running_mode, modeType_);

            std_msgs::Int8 typeNum;

            if (modeType_ == m_track)
                {
                    ROS_INFO_THROTTLE(19, "Get surface is not activated.\n");
                    continue;
                }

            ros::spinOnce();

            typeNum.data = fType_;
            feedbackGetSurfaceType_.publish(typeNum);
        }

    return 0;
}
int main(int argc, char** argv)
{
  ros::init(argc, argv, "bounding_box_interactive_marker");
  ros::NodeHandle n, pnh("~");
  server.reset(new interactive_markers::InteractiveMarkerServer("bounding_box_interactive_marker", "", false));
  pub = pnh.advertise<jsk_pcl_ros::Int32Stamped>("selected_index", 1);
  box_pub = pnh.advertise<jsk_pcl_ros::BoundingBox>("selected_box", 1);
  box_arr_pub = pnh.advertise<jsk_pcl_ros::BoundingBoxArray>("selected_box_array", 1);
  ros::Subscriber sub = pnh.subscribe("bounding_box_array", 1, boxCallback);
  ros::spin();
  server.reset();
  return 0;
}
Пример #30
0
int main(int argc, char** argv) {
  ros::init(argc, argv, "flea3_stereo");
  ros::NodeHandle pnh("~");

  try {
    flea3::StereoNode stereo_node(pnh);
    stereo_node.Run();
    ros::spin();
    stereo_node.End();
  } catch (const std::exception& e) {
    ROS_ERROR("%s: %s", pnh.getNamespace().c_str(), e.what());
  }
}