map_manager_node.cpp

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#include "cslam/front_end/map_manager.h"
 
using namespace cslam;
 
int main(int argc, char **argv) {
 
  rclcpp::init(argc, argv);
 
  auto node = std::make_shared<rclcpp::Node>("map_manager");
 
  node->declare_parameter<int>("frontend.pnp_min_inliers", 20);
  node->declare_parameter<int>("frontend.max_queue_size", 10);
  node->declare_parameter<int>("max_nb_robots", 1);
  node->declare_parameter<int>("robot_id", 0);
  node->declare_parameter<int>("frontend.map_manager_process_period_ms", 100);
  node->declare_parameter<std::string>("frontend.sensor_type", "stereo");
  node->declare_parameter<bool>("visualization.enable", false);
  node->declare_parameter<int>("visualization.publishing_period_ms", 0);
  node->declare_parameter<float>("visualization.voxel_size", 0.05);
  node->declare_parameter<float>("visualization.max_range", 2.0);
  node->declare_parameter<bool>("evaluation.enable_gps_recording", false);
  node->declare_parameter<std::string>("evaluation.gps_topic", "");
 
  std::string sensor_type;
  node->get_parameter("frontend.sensor_type", sensor_type);
 
  std::shared_ptr<IMapManager> handler;       
  if (sensor_type == "stereo") {
    handler = std::make_shared<MapManager<StereoHandler>>(node);
  } 
  else if (sensor_type == "rgbd") {
    handler = std::make_shared<MapManager<RGBDHandler>>(node);
  } 
  else {
    RCLCPP_ERROR(node->get_logger(), "Sensor type not supported: %s",
                 sensor_type.c_str());
    return -1;
  }
 
  rclcpp::spin(node);
 
  rclcpp::shutdown();
 
  return 0;
}