00001 /* 00002 * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin 00003 * 00004 * License: Modified BSD Software License Agreement 00005 * 00006 * $Id$ 00007 */ 00008 00014 #include <ros/ros.h> 00015 #include "driver.h" 00016 00017 int main(int argc, char** argv) 00018 { 00019 ros::init(argc, argv, "velodyne_node"); 00020 ros::NodeHandle node; 00021 ros::NodeHandle private_nh("~"); 00022 00023 // start the driver 00024 velodyne_driver::VelodyneDriver dvr(node, private_nh); 00025 00026 // loop until shut down or end of file 00027 while(ros::ok() && dvr.poll()) 00028 { 00029 ros::spinOnce(); 00030 } 00031 00032 return 0; 00033 }