image_publisher.cpp

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#include <ros/ros.h>
#include <nodelet/loader.h>
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "image_publisher", ros::init_options::AnonymousName);
 
  if (!ros::param::has("~filename")) {
    if (argc <= 1) {
      ROS_ERROR("image_publisher requires filename. Typical command-line usage:\n"
                "\t$ rosrun image_publisher image_publisher <filename>");
      return 1;
    }
 
    ros::param::set("~filename", argv[1]);
  }
 
  nodelet::Loader manager(false);
  nodelet::M_string remappings;
  nodelet::V_string my_argv(argv + 1, argv + argc);
  my_argv.push_back("--shutdown-on-close"); // Internal
 
  manager.load(ros::this_node::getName(), "image_publisher/image_publisher", remappings, my_argv);
 
  ros::spin();
  return 0;
}