pointcloud_to_laserscan_node.cpp

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/*
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 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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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: Paul Bovbel
 */
 
#include <nodelet/loader.h>
#include <ros/ros.h>
#include <string>
 
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;
}