velodyne_pointcloud: velodyne_pointcloud: cloud

00001 /*
00002  *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
00003  *  License: Modified BSD Software License Agreement
00004  *
00005  *  $Id: cloud_node.cc 2034 2012-02-21 22:36:41Z jack.oquin $
00006  */
00007 
00014 #include <ros/ros.h>
00015 #include "convert.h"
00016 
00018 int main(int argc, char **argv)
00019 {
00020   ros::init(argc, argv, "cloud_node");
00021   ros::NodeHandle node;
00022   ros::NodeHandle priv_nh("~");
00023 
00024   // create conversion class, which subscribes to raw data
00025   velodyne_pointcloud::Convert conv(node, priv_nh);
00026 
00027   // handle callbacks until shut down
00028   ros::spin();
00029 
00030   return 0;
00031 }