| 809 | } |
| 810 | |
| 811 | int main(int argc, char **argv) |
| 812 | { |
| 813 | ros::init(argc, argv, "pcl_render"); |
| 814 | ros::NodeHandle nh("~"); |
| 815 | |
| 816 | nh.param("quadrotor_name", quad_name, std::string("quadrotor")); |
| 817 | nh.getParam("is_360lidar", is_360lidar); |
| 818 | nh.getParam("sensing_horizon", sensing_horizon); |
| 819 | nh.getParam("sensing_rate", sensing_rate); |
| 820 | nh.getParam("estimation_rate", estimation_rate); |
| 821 | nh.getParam("polar_resolution", polar_resolution); |
| 822 | nh.getParam("yaw_fov", yaw_fov); |
| 823 | nh.getParam("vertical_fov", vertical_fov); |
| 824 | nh.getParam("min_raylength", min_raylength); |
| 825 | nh.getParam("downsample_res", downsample_res); |
| 826 | nh.getParam("livox_linestep", livox_linestep); |
| 827 | nh.getParam("use_avia_pattern", use_avia_pattern); |
| 828 | nh.getParam("curvature_limit", curvature_limit); |
| 829 | nh.getParam("hash_cubesize", hash_cubesize); |
| 830 | nh.getParam("use_vlp32_pattern", use_vlp32_pattern); |
| 831 | nh.getParam("use_minicf_pattern", use_minicf_pattern); |
| 832 | nh.getParam("use_os128_pattern", use_os128_pattern); |
| 833 | nh.getParam("lidar_pitch", lidar_pitch); |
| 834 | |
| 835 | nh.getParam("use_gaussian_filter", use_gaussian_filter); |
| 836 | |
| 837 | // dyn parameters |
| 838 | nh.getParam("dynobj_enable", dynobj_enable); |
| 839 | nh.getParam("dynobject_size", dynobject_size); |
| 840 | nh.getParam("dynobject_num", dynobject_num); |
| 841 | nh.getParam("dyn_mode", dyn_mode); |
| 842 | nh.getParam("dyn_velocity", dyn_velocity); |
| 843 | |
| 844 | nh.getParam("use_uav_extra_model", use_uav_extra_model); |
| 845 | |
| 846 | nh.getParam("collisioncheck_enable", collisioncheck_enable); |
| 847 | nh.getParam("collision_range", collision_range); |
| 848 | |
| 849 | nh.getParam("output_pcd", output_pcd); |
| 850 | |
| 851 | nh.getParam("map/x_size", x_size); |
| 852 | nh.getParam("map/y_size", y_size); |
| 853 | nh.getParam("map/z_size", z_size); |
| 854 | |
| 855 | // subscribe other uav pos |
| 856 | nh.param("uav_num", drone_num, 1); |
| 857 | nh.param("drone_id", drone_id, 0); |
| 858 | |
| 859 | file_name = argv[1]; |
| 860 | |
| 861 | other_uav_pos.resize(drone_num); |
| 862 | other_uav_rcv_time.resize(drone_num); |
| 863 | otheruav_points.resize(drone_num); |
| 864 | otheruav_pointsindex.resize(drone_num); |
| 865 | ros::Subscriber *subs = new ros::Subscriber[drone_num]; |
| 866 | for (int i = 0; i < drone_num; i++) |
| 867 | { |
| 868 | if (i == drone_id) |