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| Original file line number | Diff line number | Diff line change |
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| <library path="lib/libRunSubscribeMsckf"> | ||
| <class name="run_subscribe_msckf/RunSubscribeMsckf" type="run_subscribe_msckf::RunSubscribeMsckf" base_class_type="nodelet::Nodelet"> | ||
| <description>RunSubscribeMsckf nodelet</description> | ||
| </class> | ||
| </library> |
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| /* | ||
| * OpenVINS: An Open Platform for Visual-Inertial Research | ||
| * Copyright (C) 2018-2023 Patrick Geneva | ||
| * Copyright (C) 2018-2023 Guoquan Huang | ||
| * Copyright (C) 2018-2023 OpenVINS Contributors | ||
| * Copyright (C) 2018-2019 Kevin Eckenhoff | ||
| * | ||
| * This program is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * This program is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with this program. If not, see <https://www.gnu.org/licenses/>. | ||
| */ | ||
|
|
||
| #include <memory> | ||
|
|
||
| #include "core/VioManager.h" | ||
| #include "core/VioManagerOptions.h" | ||
| #include "utils/dataset_reader.h" | ||
|
|
||
| #if ROS_AVAILABLE == 1 | ||
| #include "ros/ROS1Visualizer.h" | ||
| #include <ros/ros.h> | ||
| #elif ROS_AVAILABLE == 2 | ||
| #include "ros/ROS2Visualizer.h" | ||
| #include <rclcpp/rclcpp.hpp> | ||
| #endif | ||
|
|
||
| using namespace ov_msckf; | ||
|
|
||
| std::shared_ptr<VioManager> sys; | ||
| #if ROS_AVAILABLE == 1 | ||
| std::shared_ptr<ROS1Visualizer> viz; | ||
| #elif ROS_AVAILABLE == 2 | ||
| std::shared_ptr<ROS2Visualizer> viz; | ||
| #endif | ||
|
|
||
| // Main function | ||
| int main(int argc, char **argv) { | ||
|
|
||
| // Ensure we have a path, if the user passes it then we should use it | ||
| std::string config_path = "unset_path_to_config.yaml"; | ||
| if (argc > 1) { | ||
| config_path = argv[1]; | ||
| } | ||
|
|
||
| #if ROS_AVAILABLE == 1 | ||
| // Launch our ros node | ||
| ros::init(argc, argv, "run_subscribe_msckf"); | ||
| auto nh = std::make_shared<ros::NodeHandle>("~"); | ||
| nh->param<std::string>("config_path", config_path, config_path); | ||
| #elif ROS_AVAILABLE == 2 | ||
| // Launch our ros node | ||
| rclcpp::init(argc, argv); | ||
| rclcpp::NodeOptions options; | ||
| options.allow_undeclared_parameters(true); | ||
| options.automatically_declare_parameters_from_overrides(true); | ||
| auto node = std::make_shared<rclcpp::Node>("run_subscribe_msckf", options); | ||
| node->get_parameter<std::string>("config_path", config_path); | ||
| #endif | ||
|
|
||
| // Load the config | ||
| auto parser = std::make_shared<ov_core::YamlParser>(config_path); | ||
| #if ROS_AVAILABLE == 1 | ||
| parser->set_node_handler(nh); | ||
| #elif ROS_AVAILABLE == 2 | ||
| parser->set_node(node); | ||
| #endif | ||
|
|
||
| // Verbosity | ||
| std::string verbosity = "DEBUG"; | ||
| parser->parse_config("verbosity", verbosity); | ||
| ov_core::Printer::setPrintLevel(verbosity); | ||
|
|
||
| // Create our VIO system | ||
| VioManagerOptions params; | ||
| params.print_and_load(parser); | ||
| params.use_multi_threading_subs = true; | ||
| sys = std::make_shared<VioManager>(params); | ||
| #if ROS_AVAILABLE == 1 | ||
| viz = std::make_shared<ROS1Visualizer>(nh, sys); | ||
| viz->setup_subscribers(parser); | ||
| #elif ROS_AVAILABLE == 2 | ||
| viz = std::make_shared<ROS2Visualizer>(node, sys); | ||
| viz->setup_subscribers(parser); | ||
| #endif | ||
|
|
||
| // Ensure we read in all parameters required | ||
| if (!parser->successful()) { | ||
| PRINT_ERROR(RED "unable to parse all parameters, please fix\n" RESET); | ||
| std::exit(EXIT_FAILURE); | ||
| } | ||
|
|
||
| // Spin off to ROS | ||
| PRINT_DEBUG("done...spinning to ros\n"); | ||
| #if ROS_AVAILABLE == 1 | ||
| // ros::spin(); | ||
| ros::AsyncSpinner spinner(0); | ||
| spinner.start(); | ||
| ros::waitForShutdown(); | ||
| #elif ROS_AVAILABLE == 2 | ||
| // rclcpp::spin(node); | ||
| rclcpp::executors::MultiThreadedExecutor executor; | ||
| executor.add_node(node); | ||
| executor.spin(); | ||
| #endif | ||
|
|
||
| // Final visualization | ||
| viz->visualize_final(); | ||
| #if ROS_AVAILABLE == 1 | ||
| ros::shutdown(); | ||
| #elif ROS_AVAILABLE == 2 | ||
| rclcpp::shutdown(); | ||
| #endif | ||
|
|
||
| // Done! | ||
| return EXIT_SUCCESS; | ||
| } |