main.cpp

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#include "adapter_slam/map.hpp"
#include "rclcpp/rclcpp.hpp"
#include "slam_config/general_config.hpp"
 
int main(int argc, char **argv) {
  (void)argc;
  (void)argv;
  rclcpp::init(argc, argv);
 
  SLAMParameters params;
  std::string adapter_type = params.load_config();
  std::shared_ptr<SLAMNode> slam_node = adapter_map.at(adapter_type)(params);
  slam_node->init();
 
  // If asynchronous optimization or synch parallel with graph slam, use a multi-threaded executor
  if (params.slam_optimization_mode_ == "async" ||
      (params.slam_solver_name_ == "graph_slam" &&
       params.slam_optimization_mode_ == "sync-parallel")) {
    rclcpp::executors::MultiThreadedExecutor executor;
    executor.add_node(slam_node);
    executor.spin();
  } else {
    rclcpp::spin(slam_node);
  }
  rclcpp::shutdown();
 
  return 0;
}