| 65 | } |
| 66 | |
| 67 | int main(int argc, char** argv) |
| 68 | { |
| 69 | ros::init(argc, argv, "process_msg"); |
| 70 | ros::NodeHandle node; |
| 71 | ros::NodeHandle nh("~"); |
| 72 | |
| 73 | ros::Subscriber cloud_sub = nh.subscribe("/map_generator/global_cloud", 10, cloudCallback); |
| 74 | cloud_pub = nh.advertise<sensor_msgs::PointCloud2>("/process_msg/global_cloud", 10); |
| 75 | map_origin_ << -20, -10, -1; |
| 76 | |
| 77 | ros::Duration(1.0).sleep(); |
| 78 | |
| 79 | ROS_WARN("[process_msg]: ready."); |
| 80 | |
| 81 | ros::spin(); |
| 82 | |
| 83 | return 0; |
| 84 | } |