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/**************************************************************************** | ||
* | ||
* Copyright (c) 2021 Jaeyoung Lim. All rights reserved. | ||
* | ||
* Redistribution and use in source and binary forms, with or without | ||
* modification, are permitted provided that the following conditions | ||
* are met: | ||
* | ||
* 1. Redistributions of source code must retain the above copyright | ||
* notice, this list of conditions and the following disclaimer. | ||
* 2. Redistributions in binary form must reproduce the above copyright | ||
* notice, this list of conditions and the following disclaimer in | ||
* the documentation and/or other materials provided with the | ||
* distribution. | ||
* 3. Neither the name PX4 nor the names of its contributors may be | ||
* used to endorse or promote products derived from this software | ||
* without specific prior written permission. | ||
* | ||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
* POSSIBILITY OF SUCH DAMAGE. | ||
* | ||
****************************************************************************/ | ||
/** | ||
* @brief Node to test planner in the view utiltiy map | ||
* | ||
* | ||
* @author Jaeyoung Lim <[email protected]> | ||
*/ | ||
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#include "adaptive_viewutility/adaptive_viewutility.h" | ||
#include "terrain_navigation/profiler.h" | ||
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int main(int argc, char **argv) { | ||
ros::init(argc, argv, "adaptive_viewutility"); | ||
ros::NodeHandle nh(""); | ||
ros::NodeHandle nh_private("~"); | ||
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ros::Publisher normal_marker_pub = nh.advertise<visualization_msgs::MarkerArray>("surface_normal_marker", 1, true); | ||
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std::string file_path; | ||
nh_private.param<std::string>("file_path", file_path, ""); | ||
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std::shared_ptr<AdaptiveViewUtility> adaptive_viewutility = std::make_shared<AdaptiveViewUtility>(nh, nh_private); | ||
adaptive_viewutility->LoadMap(file_path); | ||
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while (true) { | ||
// Visualize results | ||
adaptive_viewutility->MapPublishOnce(); | ||
adaptive_viewutility->NormalPublishOnce(normal_marker_pub); | ||
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ros::Duration(10.0).sleep(); | ||
} | ||
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ros::spin(); | ||
return 0; | ||
} |