velodyne_node.cc

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// Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
// All rights reserved.
//
// Software License Agreement (BSD License 2.0)
//
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// modification, are permitted provided that the following conditions
// are met:
//
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//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above
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//    with the distribution.
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#include <ros/ros.h>
#include "velodyne_driver/driver.h"
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "velodyne_node");
  ros::NodeHandle node;
  ros::NodeHandle private_nh("~");
 
  // start the driver
  velodyne_driver::VelodyneDriver dvr(node, private_nh);
 
  // loop until shut down or end of file
  while(ros::ok())
    {
      // poll device until end of file
      bool polled_ = dvr.poll();
      if (!polled_)
        ROS_ERROR_THROTTLE(1.0, "Velodyne - Failed to poll device.");
 
      ros::spinOnce();
    }
 
  return 0;
}