Function main

ros_node/static_mapping_node.cpp:91–456

}  // namespace

int main(int argc, char** argv) {
  ros::init(argc, argv, "static_mapping_node");
  ros::NodeHandle n;

  SIMPLE_PROF_USE_MS;
  SIMPLE_PROF_MERGE_OUTPUT;

  google::InitGoogleLogging(argv[0]);
  FLAGS_alsologtostderr = true;
  FLAGS_colorlogtostderr = true;
  google::InstallFailureSignalHandler();

  // parse auguements
  // point cloud
  std::string point_cloud_topic = "";
  pcl::console::parse_argument(argc, argv, "-pc", point_cloud_topic);
  if (point_cloud_topic.empty()) {
    PRINT_ERROR("point cloud topic is empty!");
    return -1;
  } else {
    PRINT_INFO_FMT("Get point cloud from ROS topic: %s",
                   point_cloud_topic.c_str());
  }
  ros::Subscriber sub_pointcloud =
      n.subscribe(point_cloud_topic, 10, pointcloud_callback);
  std::string cloud_frame_id = "base_link";
  pcl::console::parse_argument(argc, argv, "-pc_frame_id", cloud_frame_id);

  // imu
  std::string imu_topic = "";
  bool use_imu = false;
  ros::Subscriber sub_imu;
  std::string imu_frame_id = "/novatel_imu";
  pcl::console::parse_argument(argc, argv, "-imu", imu_topic);
  if (imu_topic.empty()) {
    PRINT_WARNING("No imu topic, expect no imu messages.");
  } else {
    PRINT_INFO_FMT("Get imu data from ROS topic: %s", imu_topic.c_str());
    sub_imu = n.subscribe(imu_topic, 100, imu_callback);
    pcl::console::parse_argument(argc, argv, "-imu_frame_id", imu_frame_id);
    use_imu = true;
  }

  // odom
  bool use_odom = false;
  std::string odom_topic = "";
  std::string odom_frame_id = "";
  pcl::console::parse_argument(argc, argv, "-odom", odom_topic);
  pcl::console::parse_argument(argc, argv, "-odom_frame_id", odom_frame_id);
  ros::Subscriber sub_odom;
  if (!odom_topic.empty() && !odom_frame_id.empty()) {
    sub_odom = n.subscribe(odom_topic, 100, odom_callback);
    use_odom = true;
    PRINT_INFO_FMT("Get odom data from ROS topic: %s", odom_topic.c_str());
  } else {
    PRINT_WARNING("No odom data accessed!");
  }