00001 /* 00002 This code was developed by the National Robotics Engineering Center (NREC), part of the Robotics Institute at Carnegie Mellon University. 00003 Its development was funded by DARPA under the LS3 program and submitted for public release on June 7th, 2012. 00004 Release was granted on August, 21st 2012 with Distribution Statement "A" (Approved for Public Release, Distribution Unlimited). 00005 00006 This software is released under a BSD license: 00007 00008 Copyright (c) 2012, Carnegie Mellon University. All rights reserved. 00009 00010 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 00011 00012 Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 00013 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. 00014 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. 00015 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. 00016 */ 00017 00018 00019 00031 #include "ros/ros.h" 00032 #include <nodelet/loader.h> 00033 00034 int main(int argc, char **argv) 00035 { 00036 ros::init(argc, argv, "pointgrey_camera_node"); 00037 00038 // This is code based nodelet loading, the preferred nodelet launching is done through roslaunch 00039 nodelet::Loader nodelet; 00040 nodelet::M_string remap(ros::names::getRemappings()); 00041 nodelet::V_string nargv; 00042 nodelet.load("pointgrey_camera_node", "pointgrey_camera_driver/PointGreyStereoCameraNodelet", remap, nargv); 00043 00044 ros::spin(); 00045 00046 return 0; 00047 }