00001 /* 00002 * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin 00003 * License: Modified BSD Software License Agreement 00004 * 00005 * $Id$ 00006 */ 00007 00014 #include <ros/ros.h> 00015 #include "convert.h" 00016 00018 int main(int argc, char **argv) 00019 { 00020 ros::init(argc, argv, "cloud_node"); 00021 ros::NodeHandle node; 00022 ros::NodeHandle priv_nh("~"); 00023 00024 // create conversion class, which subscribes to raw data 00025 velodyne_pointcloud::Convert conv(node, priv_nh); 00026 00027 // handle callbacks until shut down 00028 ros::spin(); 00029 00030 return 0; 00031 }