laser_simulator_node.cpp

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#include "ros/ros.h"
 
#include "mobile_robot_simulator/laser_simulator.h"
 
int main(int argc, char **argv)
{
    ros::init(argc,argv, "laser_simulator");
    ros::NodeHandle nh("~");
        
    LaserScannerSimulator laser_sim(&nh);
    ros::AsyncSpinner spinner(1);
    
    ROS_INFO("--- Starting LaserScanner simulator");
    
    ros::Duration(0.5).sleep();
    
    laser_sim.start();
    
    spinner.start();
    while (nh.ok()) {
        //ros::spinOnce();
        ros::Duration(0.01).sleep();
    }
    spinner.stop();
    
    laser_sim.stop();
    
    return 0;
    
} // end main