int main(int argc, char** argv)
{
ros::init(argc, argv, "slam_gmapping");
SlamGMapping gn;
gn.startLiveSlam();
ros::spin();
return (0);
}
int
main(int argc, char** argv)
{
ros::init(argc, argv, "slam_gmapping");
SlamGMapping gn;
timeval start , end;
long long time;
gettimeofday(&start , NULL);
gn.startLiveSlam();
gettimeofday(&end, NULL);
time = 1000000*(end.tv_sec - start.tv_sec) + (end.tv_usec - start.tv_usec);
std::cout << "The startLiveSlam Time = "<<time << "\n";
ros::spin();
return(0);
}
int
main (int argc, char** argv)
{
/** Define and parse the program options
*/
namespace po = boost::program_options;
po::options_description desc ("Options");
desc.add_options()
("help", "Print help messages")
("scan_topic", po::value<std::string>()->default_value ("/scan") , "topic that contains the laserScan in the rosbag")
("bag_filename", po::value<std::string>()->required(), "ros bag filename")
("seed", po::value<unsigned long int>()->default_value (0), "seed")
("max_duration_buffer", po::value<unsigned long int>()->default_value (99999), "max tf buffer duration")
("on_done", po::value<std::string>(), "command to execute when done") ;
po::variables_map vm;
try
{
po::store (po::parse_command_line (argc, argv, desc),
vm); // can throw
/** --help option
*/
if (vm.count ("help"))
{
std::cout << "Basic Command Line Parameter App" << std::endl
<< desc << std::endl;
return 0;
}
po::notify (vm); // throws on error, so do after help in case
// there are any problems
}
catch (po::error& e)
{
std::cerr << "ERROR: " << e.what() << std::endl << std::endl;
std::cerr << desc << std::endl;
return -1;
}
std::string bag_fname = vm["bag_filename"].as<std::string>();
std::string scan_topic = vm["scan_topic"].as<std::string>();
unsigned long int seed = vm["seed"].as<unsigned long int>();
unsigned long int max_duration_buffer = vm["max_duration_buffer"].as<unsigned long int>();
ros::init (argc, argv, "slam_gmapping");
SlamGMapping gn (seed, max_duration_buffer) ;
gn.startReplay (bag_fname, scan_topic);
ROS_INFO ("replay stopped.");
if (vm.count ("on_done"))
{
// Run the "on_done" command and then exit
system (vm["on_done"].as<std::string>().c_str());
}
else
{
ros::spin(); // wait so user can save the map
}
return (0);
}
