buffer_server_main.cpp

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#include <tf2_ros/buffer_server.h>
#include <tf2_ros/transform_listener.h>
#include <ros/ros.h>


class MyClass
{
public:
  MyClass() {}
  MyClass(double d) {}
};

class BlankClass
{
public:
  BlankClass() {}
};

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

  double buffer_size;
  nh.param("buffer_size", buffer_size, 120.0);

  // WIM: this works fine:
  tf2_ros::Buffer buffer_core(ros::Duration(buffer_size+0)); // WTF??
  tf2_ros::TransformListener listener(buffer_core);
  tf2_ros::BufferServer buffer_server(buffer_core, "tf2_buffer_server", false);
  buffer_server.start();
  // But you should probably read this instead:
  // http://www.informit.com/guides/content.aspx?g=cplusplus&seqNum=439

  ros::spin();
}