tree_kinematics_node.cpp

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/*
 * Software License Agreement (GNU Lesser General Public License)
 *
 * Copyright (c) 2011, PAL Robotics, S.L.
 * All rights reserved.
 *
 * This library 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 2.1 of the License, or (at your option) any later version.
 *
 * This library 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 library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
#include "tree_kinematics/tree_kinematics.h"

int main(int argc, char** argv)
{
  ros::init(argc, argv, "tree_kinematics_node");
  ros::NodeHandle nh;
  tree_kinematics::TreeKinematics tree_kinematics;

  if(!tree_kinematics.init())
  {
    ROS_FATAL("Could not initialise tree kinematics node! Aborting ...");
    return -1;
  }
  else
  {
    ROS_INFO("Tree kinematics node initialised.");
    ros::spin();
  }
  return 0;
}