First commit of the code

src/msckf_vio_nodelet.cpp

@@ -0,0 +1,24 @@
+/*
+ * COPYRIGHT AND PERMISSION NOTICE
+ * Penn Software MSCKF_VIO
+ * Copyright (C) 2017 The Trustees of the University of Pennsylvania
+ * All rights reserved.
+ */
+
+#include <msckf_vio/msckf_vio_nodelet.h>
+
+namespace msckf_vio {
+void MsckfVioNodelet::onInit() {
+  msckf_vio_ptr.reset(new MsckfVio(getPrivateNodeHandle()));
+  if (!msckf_vio_ptr->initialize()) {
+    ROS_ERROR("Cannot initialize MSCKF VIO...");
+    return;
+  }
+  return;
+}
+
+PLUGINLIB_DECLARE_CLASS(msckf_vio, MsckfVioNodelet,
+    msckf_vio::MsckfVioNodelet, nodelet::Nodelet);
+
+} // end namespace msckf_vio
+