Initial commit

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(iri_adc_landmarks_slam_solver)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED)
+# ******************************************************************** 
+#                 Add catkin additional components here
+# ******************************************************************** 
+find_package(catkin REQUIRED COMPONENTS iri_base_algorithm iri_adc_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+# ******************************************************************** 
+#           Add system and labrobotica dependencies here
+# ******************************************************************** 
+# find_package(<dependency> REQUIRED)
+
+# ******************************************************************** 
+#           Add topic, service and action definition here
+# ******************************************************************** 
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+# ******************************************************************** 
+#                 Add the dynamic reconfigure file 
+# ******************************************************************** 
+generate_dynamic_reconfigure_options(cfg/AdcLandmarksSlamSolver.cfg)
+
+# ******************************************************************** 
+#                 Add run time dependencies here
+# ******************************************************************** 
+catkin_package(
+#  INCLUDE_DIRS 
+#  LIBRARIES 
+# ******************************************************************** 
+#            Add ROS and IRI ROS run time dependencies
+# ******************************************************************** 
+ CATKIN_DEPENDS iri_base_algorithm iri_adc_msgs
+# ******************************************************************** 
+#      Add system and labrobotica run time dependencies here
+# ******************************************************************** 
+#  DEPENDS 
+)
+
+###########
+## Build ##
+###########
+
+# ******************************************************************** 
+#                   Add the include directories 
+# ******************************************************************** 
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+# include_directories(${<dependency>_INCLUDE_DIRS})
+
+## Declare a cpp library
+# add_library(${PROJECT_NAME} <list of source files>)
+
+## Declare a cpp executable
+add_executable(${PROJECT_NAME} src/adc_landmarks_slam_solver_alg.cpp src/adc_landmarks_slam_solver_alg_node.cpp)
+
+# ******************************************************************** 
+#                   Add the libraries
+# ******************************************************************** 
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARIES})
+
+# ******************************************************************** 
+#               Add message headers dependencies 
+# ******************************************************************** 
+# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} iri_adc_msgs_generate_messages_cpp)
+# ******************************************************************** 
+#               Add dynamic reconfigure dependencies 
+# ******************************************************************** 
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})

LICENSE

+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
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+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
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+   b) under the GNU GPL, with none of the additional permissions of
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+  3. Object Code Incorporating Material from Library Header Files.
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+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
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+   b) Accompany the object code with a copy of the GNU GPL and this license
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+  4. Combined Works.
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+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
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+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
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+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
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+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
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+
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+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
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+       of the Library that is interface-compatible with the Linked
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+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
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+   Information in the manner specified by section 6 of the GNU GPL
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+  5. Combined Libraries.
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+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
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+choice, if you do both of the following:
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+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
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+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
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+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

README.md

+## Description
+
+The iri_adc_landmarks_slam_solver project description
+
+# ROS Interface
+### Topic subscribers
+  - ~**landmarks** (iri_adc_msgs/landmark_array.msg)
+
+### Parameters
+- ~**rate** (Double; default: 10.0; min: 0.1; max: 1000) The main node thread loop rate in Hz. 
+
+## Installation
+
+Move to the active workspace:
+```bash
+roscd && cd ../src
+```
+Clone the repository: 
+```bash
+git clone <url>
+```
+Install ROS dependencies:
+```
+roscd
+cd ..
+rosdep install -i -r --from-paths src
+```
+Compile the workspace:
+```
+catkin_make
+```
+
+## How to use it
+
+- Standalone test
+
+  `roslaunch iri_adc_landmarks_slam_solver test.launch`
+
+## Disclaimer  
+
+Copyright (C) Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+
+This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair  or correction.
+
+In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
+
+You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>
\ No newline at end of file

cfg/AdcLandmarksSlamSolver.cfg

+#! /usr/bin/env python
+#*  All rights reserved.
+#*
+#*  Redistribution and use in source and binary forms, with or without
+#*  modification, are permitted provided that the following conditions
+#*  are met:
+#*
+#*   * Redistributions of source code must retain the above copyright
+#*     notice, this list of conditions and the following disclaimer.
+#*   * 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.
+#*   * Neither the name of the Willow Garage 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.
+#***********************************************************
+
+# Author: 
+
+PACKAGE='iri_adc_landmarks_slam_solver'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+#       Name     Type       Reconf.level Description             Default Min   Max
+gen.add("rate",  double_t,  0,           "Main loop rate (Hz)",  10.0,   0.1, 1000.0)
+
+exit(gen.generate(PACKAGE, "AdcLandmarksSlamSolverAlgorithm", "AdcLandmarksSlamSolver"))
\ No newline at end of file

config/params.yaml

+rate: 10
\ No newline at end of file

include/adc_landmarks_slam_solver_alg.h

+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author 
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+// 
+// IMPORTANT NOTE: This code has been generated through a script from the 
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _adc_landmarks_slam_solver_alg_h_
+#define _adc_landmarks_slam_solver_alg_h_
+
+#include <iri_adc_landmarks_slam_solver/AdcLandmarksSlamSolverConfig.h>
+
+//include adc_landmarks_slam_solver_alg main library
+
+/**
+ * \brief IRI ROS Specific Driver Class
+ *
+ *
+ */
+class AdcLandmarksSlamSolverAlgorithm
+{
+  protected:
+   /**
+    * \brief define config type
+    *
+    * Define a Config type with the AdcLandmarksSlamSolverConfig. All driver implementations
+    * will then use the same variable type Config.
+    */
+    pthread_mutex_t access_;    
+
+    // private attributes and methods
+
+  public:
+   /**
+    * \brief define config type
+    *
+    * Define a Config type with the AdcLandmarksSlamSolverConfig. All driver implementations
+    * will then use the same variable type Config.
+    */
+    typedef iri_adc_landmarks_slam_solver::AdcLandmarksSlamSolverConfig Config;
+
+   /**
+    * \brief config variable
+    *
+    * This variable has all the driver parameters defined in the cfg config file.
+    * Is updated everytime function config_update() is called.
+    */
+    Config config_;
+
+   /**
+    * \brief constructor
+    *
+    * In this constructor parameters related to the specific driver can be
+    * initalized. Those parameters can be also set in the openDriver() function.
+    * Attributes from the main node driver class IriBaseDriver such as loop_rate,
+    * may be also overload here.
+    */
+    AdcLandmarksSlamSolverAlgorithm(void);
+
+   /**
+    * \brief Lock Algorithm
+    *
+    * Locks access to the Algorithm class
+    */
+    void lock(void) { pthread_mutex_lock(&this->access_); };
+
+   /**
+    * \brief Unlock Algorithm
+    *
+    * Unlocks access to the Algorithm class
+    */
+    void unlock(void) { pthread_mutex_unlock(&this->access_); };
+
+   /**
+    * \brief Tries Access to Algorithm
+    *
+    * Tries access to Algorithm
+    * 
+    * \return true if the lock was adquired, false otherwise
+    */
+    bool try_enter(void) 
+    { 
+      if(pthread_mutex_trylock(&this->access_)==0)
+        return true;
+      else
+        return false;
+    };
+
+   /**
+    * \brief config update
+    *
+    * In this function the driver parameters must be updated with the input
+    * config variable. Then the new configuration state will be stored in the 
+    * Config attribute.
+    *
+    * \param new_cfg the new driver configuration state
+    *
+    * \param level level in which the update is taken place
+    */
+    void config_update(Config& config, uint32_t level=0);
+
+    // here define all adc_landmarks_slam_solver_alg interface methods to retrieve and set
+    // the driver parameters
+
+   /**
+    * \brief Destructor
+    *
+    * This destructor is called when the object is about to be destroyed.
+    *
+    */
+    ~AdcLandmarksSlamSolverAlgorithm(void);
+};
+
+#endif

include/adc_landmarks_slam_solver_alg_node.h

+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author 
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+// 
+// IMPORTANT NOTE: This code has been generated through a script from the 
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _adc_landmarks_slam_solver_alg_node_h_
+#define _adc_landmarks_slam_solver_alg_node_h_
+
+#include <iri_base_algorithm/iri_base_algorithm.h>
+#include "adc_landmarks_slam_solver_alg.h"
+
+// [publisher subscriber headers]
+#include <iri_adc_msgs/landmark_array.h>
+
+// [service client headers]
+
+// [action server client headers]
+
+/**
+ * \brief IRI ROS Specific Algorithm Class
+ *
+ */
+class AdcLandmarksSlamSolverAlgNode : public algorithm_base::IriBaseAlgorithm<AdcLandmarksSlamSolverAlgorithm>
+{
+  private:
+    // [publisher attributes]
+
+    // [subscriber attributes]
+    ros::Subscriber landmarks_subscriber_;
+    void landmarks_callback(const iri_adc_msgs::landmark_array::ConstPtr& msg);
+    pthread_mutex_t landmarks_mutex_;
+    void landmarks_mutex_enter(void);
+    void landmarks_mutex_exit(void);
+
+
+    // [service attributes]
+
+    // [client attributes]
+
+    // [action server attributes]
+
+    // [action client attributes]
+
+   /**
+    * \brief config variable
+    *
+    * This variable has all the driver parameters defined in the cfg config file.
+    * Is updated everytime function config_update() is called.
+    */
+    Config config_;
+  public:
+   /**
+    * \brief Constructor
+    * 
+    * This constructor initializes specific class attributes and all ROS
+    * communications variables to enable message exchange.
+    */
+    AdcLandmarksSlamSolverAlgNode(void);
+
+   /**
+    * \brief Destructor
+    * 
+    * This destructor frees all necessary dynamic memory allocated within this
+    * this class.
+    */
+    ~AdcLandmarksSlamSolverAlgNode(void);
+
+  protected:
+   /**
+    * \brief main node thread
+    *
+    * This is the main thread node function. Code written here will be executed
+    * in every node loop while the algorithm is on running state. Loop frequency 
+    * can be tuned by modifying loop_rate attribute.
+    *
+    * Here data related to the process loop or to ROS topics (mainly data structs
+    * related to the MSG and SRV files) must be updated. ROS publisher objects 
+    * must publish their data in this process. ROS client servers may also
+    * request data to the corresponding server topics.
+    */
+    void mainNodeThread(void);
+
+   /**
+    * \brief dynamic reconfigure server callback
+    * 
+    * This method is called whenever a new configuration is received through
+    * the dynamic reconfigure. The derivated generic algorithm class must 
+    * implement it.
+    *
+    * \param config an object with new configuration from all algorithm 
+    *               parameters defined in the config file.
+    * \param level  integer referring the level in which the configuration
+    *               has been changed.
+    */
+    void node_config_update(Config &config, uint32_t level);
+
+   /**
+    * \brief node add diagnostics
+    *
+    * In this abstract function additional ROS diagnostics applied to the 
+    * specific algorithms may be added.
+    */
+    void addNodeDiagnostics(void);
+
+    // [diagnostic functions]
+    
+    // [test functions]
+};
+
+#endif

launch/node.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="node_name"     default="iri_adc_landmarks_slam_solver"/>
+  <arg name="output"        default="screen"/>
+  <arg name="launch_prefix" default=""/>
+  <arg name="config_file"   default="$(find iri_adc_landmarks_slam_solver)/config/params.yaml"/>
+  <!-- <arg name="topic_name"  default="new_topic_name"/> -->
+
+  <node name="$(arg node_name)"
+        pkg ="iri_adc_landmarks_slam_solver"
+        type="iri_adc_landmarks_slam_solver"
+        output="$(arg output)"
+        launch-prefix="$(arg launch_prefix)">
+    <rosparam file="$(arg config_file)" command="load"/>
+    <!--<remap from="~/topic" to="$(arg topic_name)"/>-->
+  </node>
+
+</launch>
\ No newline at end of file

launch/test.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="output"        default="screen"/>
+  <arg name="launch_prefix" default=""/>
+  <arg name="dr"            default="true"/>
+
+  <include file="$(find iri_adc_landmarks_slam_solver)/launch/node.launch">
+    <arg name="node_name"     value="iri_adc_landmarks_slam_solver"/>
+    <arg name="output"        value="$(arg output)"/>
+    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+  </include>
+
+  <node name="rqt_reconfigure_iri_adc_landmarks_slam_solver"
+        pkg ="rqt_reconfigure"
+        type="rqt_reconfigure"
+        if  ="$(arg dr)"
+        args="iri_adc_landmarks_slam_solver">
+  </node>
+
+</launch>
\ No newline at end of file

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>iri_adc_landmarks_slam_solver</name>
+  <version>0.0.0</version>
+  <description>The iri_adc_landmarks_slam_solver package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="irilab@iri.upc.edu">irilab</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>LGPL</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/iri_adc_landmarks_slam_solver</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>iri_base_algorithm</build_depend>
+  <build_export_depend>iri_base_algorithm</build_export_depend>
+  <exec_depend>iri_base_algorithm</exec_depend>
+  <depend>iri_adc_msgs</depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/adc_landmarks_slam_solver_alg.cpp

+#include "adc_landmarks_slam_solver_alg.h"
+
+AdcLandmarksSlamSolverAlgorithm::AdcLandmarksSlamSolverAlgorithm(void)
+{
+  pthread_mutex_init(&this->access_,NULL);
+}
+
+AdcLandmarksSlamSolverAlgorithm::~AdcLandmarksSlamSolverAlgorithm(void)
+{
+  pthread_mutex_destroy(&this->access_);
+}
+
+void AdcLandmarksSlamSolverAlgorithm::config_update(Config& config, uint32_t level)
+{
+  this->lock();
+
+  // save the current configuration
+  this->config_=config;
+  
+  this->unlock();
+}
+
+// AdcLandmarksSlamSolverAlgorithm Public API

src/adc_landmarks_slam_solver_alg_node.cpp

+#include "adc_landmarks_slam_solver_alg_node.h"
+
+AdcLandmarksSlamSolverAlgNode::AdcLandmarksSlamSolverAlgNode(void) :
+  algorithm_base::IriBaseAlgorithm<AdcLandmarksSlamSolverAlgorithm>()
+{
+  //init class attributes if necessary
+  if(!this->private_node_handle_.getParam("rate", this->config_.rate))
+  {
+    ROS_WARN("AdcLandmarksSlamSolverAlgNode::AdcLandmarksSlamSolverAlgNode: param 'rate' not found");
+  }
+  else
+    this->setRate(this->config_.rate);
+
+  // [init publishers]
+  
+  // [init subscribers]
+  this->landmarks_subscriber_ = this->private_node_handle_.subscribe("landmarks", 1, &AdcLandmarksSlamSolverAlgNode::landmarks_callback, this);
+  pthread_mutex_init(&this->landmarks_mutex_,NULL);
+
+  
+  // [init services]
+  
+  // [init clients]
+  
+  // [init action servers]
+  
+  // [init action clients]
+}
+
+AdcLandmarksSlamSolverAlgNode::~AdcLandmarksSlamSolverAlgNode(void)
+{
+  // [free dynamic memory]
+  pthread_mutex_destroy(&this->landmarks_mutex_);
+}
+
+void AdcLandmarksSlamSolverAlgNode::mainNodeThread(void)
+{
+  //lock access to algorithm if necessary
+  this->alg_.lock();
+  ROS_DEBUG("AdcLandmarksSlamSolverAlgNode::mainNodeThread");
+  // [fill msg structures]
+  
+  // [fill srv structure and make request to the server]
+  
+  // [fill action structure and make request to the action server]
+
+  // [publish messages]
+  
+  this->alg_.unlock();
+}
+
+/*  [subscriber callbacks] */
+void AdcLandmarksSlamSolverAlgNode::landmarks_callback(const iri_adc_msgs::landmark_array::ConstPtr& msg)
+{
+  ROS_INFO("AdcLandmarksSlamSolverAlgNode::landmarks_callback: New Message Received");
+
+  //use appropiate mutex to shared variables if necessary
+  //this->alg_.lock();
+  //this->landmarks_mutex_enter();
+
+  //std::cout << msg->data << std::endl;
+  //unlock previously blocked shared variables
+  //this->alg_.unlock();
+  //this->landmarks_mutex_exit();
+}
+
+void AdcLandmarksSlamSolverAlgNode::landmarks_mutex_enter(void)
+{
+  pthread_mutex_lock(&this->landmarks_mutex_);
+}
+
+void AdcLandmarksSlamSolverAlgNode::landmarks_mutex_exit(void)
+{
+  pthread_mutex_unlock(&this->landmarks_mutex_);
+}
+
+
+/*  [service callbacks] */
+
+/*  [action callbacks] */
+
+/*  [action requests] */
+
+void AdcLandmarksSlamSolverAlgNode::node_config_update(Config &config, uint32_t level)
+{
+  this->alg_.lock();
+  if(config.rate!=this->getRate())
+    this->setRate(config.rate);
+  this->config_=config;
+  this->alg_.unlock();
+}
+
+void AdcLandmarksSlamSolverAlgNode::addNodeDiagnostics(void)
+{
+}
+
+/* main function */
+int main(int argc,char *argv[])
+{
+  return algorithm_base::main<AdcLandmarksSlamSolverAlgNode>(argc, argv, "adc_landmarks_slam_solver_alg_node");
+}