main.cpp

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#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <collision_proximity_planner/collision_proximity_planner.h>
#include <boost/thread.hpp>

void spinThread()
{
  ros::spin();
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "collision_proximity_planner");

  ros::AsyncSpinner spinner(1); 
  spinner.start();

  ros::NodeHandle nh;

  std::string robot_description_name = nh.resolveName("robot_description", true);
  collision_proximity_planner::CollisionProximityPlanner planner(robot_description_name);
  ros::Rate r(10.0);
  while(nh.ok()) {
    r.sleep();
  }
  ros::waitForShutdown();
  return 0;
}