main.cpp

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#include <ros/ros.h>
#include "bin_pose_emulator/bin_pose_emulator.h"

int main(int argc, char* argv[])
{
  ros::init(argc, argv, "bin_pose_emulator");
  ros::NodeHandle nh;

  // Get config filepath from ROS Param server
  std::string filepath;
  nh.getParam("filepath", filepath);

  // Create emulator object
  Emulator emulator(&nh, filepath);

  // Advertise service
  ros::ServiceServer service =
      nh.advertiseService("bin_pose", &Emulator::callback, &emulator);

  ros::spin();

  return EXIT_SUCCESS;
}