laserscan_to_pointcloud_node.cpp

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/*
 * Software License Agreement (BSD License)
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 *  Copyright (c) 2019, Eurotec, Netherlands
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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/*
 * Author: Rein Appeldoorn
 */

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

int main(int argc, char** argv)
{
  ros::init(argc, argv, "laserscan_to_pointcloud_node");
  ros::NodeHandle private_nh("~");
  int concurrency_level = private_nh.param("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/laserscan_to_pointcloud_nodelet", remap, nargv);

  boost::shared_ptr<ros::MultiThreadedSpinner> spinner;
  if (concurrency_level)
  {
    spinner.reset(new ros::MultiThreadedSpinner(static_cast<uint32_t>(concurrency_level)));
  }
  else
  {
    spinner.reset(new ros::MultiThreadedSpinner());
  }
  spinner->spin();
  return 0;
}