node.cpp

Go to the documentation of this file.

/*
This code was developed by the National Robotics Engineering Center (NREC), part of the Robotics Institute at Carnegie
Mellon University.
Its development was funded by DARPA under the LS3 program and submitted for public release on June 7th, 2012.
Release was granted on August, 21st 2012 with Distribution Statement "A" (Approved for Public Release, Distribution
Unlimited).
 
This software is released under a BSD license:
 
Copyright (c) 2012, Carnegie Mellon University. All rights reserved.
Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved.
 
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
following conditions are met:
 
Redistributions of source code must retain the above copyright notice, this list of conditions and the following
disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the Carnegie Mellon University nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
#include "ros/ros.h"
#include <nodelet/loader.h>
 
#include <string>
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "spinnaker_camera_node");
 
  // This is code based nodelet loading, the preferred nodelet launching is done through roslaunch
  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, "spinnaker_camera_driver/SpinnakerCameraNodelet", remap, nargv);
 
  ros::spin();
 
  return 0;
}