C++ (Cpp) carmen_map_server_subscribe_offline_map示例

示例#1

文件： grid_mapping_main.cpp 项目： ulyssesrr/carmen_lcad

static void
carmen_subscribe_to_relevant_messages()
{
	carmen_map_server_subscribe_offline_map(NULL, (carmen_handler_t) offline_map_handler, CARMEN_SUBSCRIBE_LATEST);

	carmen_localize_ackerman_subscribe_initialize_message(NULL, (carmen_handler_t)pose_initialize_ackerman_message_handler, CARMEN_SUBSCRIBE_LATEST);
	carmen_localize_ackerman_subscribe_sensor_message(NULL, (carmen_handler_t)sensor_ackerman_message_handler, CARMEN_SUBSCRIBE_LATEST);

	carmen_ultrasonic_sonar_sensor_subscribe(NULL, (carmen_handler_t) ultrasonic_sensor_message_handler, CARMEN_SUBSCRIBE_LATEST);
	carmen_visual_odometry_subscribe_pose6d_message(NULL, (carmen_handler_t) visual_odometry_message_handler, CARMEN_SUBSCRIBE_LATEST);
}

示例#2

文件： moving_objects_main.cpp 项目： LCAD-UFES/carmen_lcad

int
main(int argc, char **argv)
{

	/* Connect to IPC Server */
	carmen_ipc_initialize(argc, argv);

	/* Check the param server version */
	carmen_param_check_version(argv[0]);

	/* Initialize vector of readings laser */


	/* Initialize vector of static points */


	/* Initialize all the relevant parameters */
	read_parameters(argc, argv);

	/* Register shutdown cleaner handler */
	signal(SIGINT, shutdown_module);

	/* Define messages that your module publishes */
	carmen_moving_objects_point_clouds_define_messages();

	/* Subscribe to sensor and filter messages */
	carmen_localize_ackerman_subscribe_globalpos_message(NULL,
				(carmen_handler_t) localize_ackerman_handler, CARMEN_SUBSCRIBE_LATEST);

    carmen_velodyne_subscribe_partial_scan_message(NULL,
    		(carmen_handler_t) velodyne_partial_scan_message_handler, CARMEN_SUBSCRIBE_LATEST);

    carmen_stereo_velodyne_subscribe_scan_message(8, NULL,
    		(carmen_handler_t)velodyne_variable_scan_message_handler, CARMEN_SUBSCRIBE_LATEST);

//    carmen_localize_ackerman_subscribe_globalpos_message(NULL,
//			(carmen_handler_t) localize_ackerman_handler, CARMEN_SUBSCRIBE_LATEST);

    carmen_map_server_subscribe_offline_map(NULL,
    		(carmen_handler_t) carmen_map_server_offline_map_message_handler, CARMEN_SUBSCRIBE_LATEST);



	carmen_ipc_dispatch();

	return (0);
}