pointcloud_to_laserscan_node.cpp

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/*
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/*
 * Author: Paul Bovbel
 */

#include <ros/ros.h>
#include <nodelet/loader.h>

int main(int argc, char **argv){
  ros::init(argc, argv, "pointcloud_to_laserscan_node");
  ros::NodeHandle private_nh("~");
  int concurrency_level;
  private_nh.param<int>("concurrency_level", concurrency_level, 0);

  nodelet::Loader nodelet;
  nodelet::M_string remap(ros::names::getRemappings());
  nodelet::V_string nargv;
  std::string nodelet_name = ros::this_node::getName();
  nodelet.load(nodelet_name, "pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet", remap, nargv);

  boost::shared_ptr<ros::MultiThreadedSpinner> spinner;
  if(concurrency_level) {
    spinner.reset(new ros::MultiThreadedSpinner(concurrency_level));
  }else{
    spinner.reset(new ros::MultiThreadedSpinner());
  }
  spinner->spin();
  return 0;

}