daemon_node.cpp

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#include <signal.h>
#include <time.h>
#include "micros_swarm/runtime_core.h"

boost::shared_ptr<micros_swarm::RuntimeCore> rtp_core_;

void rtpManagerDestroySigintHandler(int sig)
{
    // Do some custom action.
    // For example, publish a stop message to some other nodes.
    // All the default sigint handler does is call shutdown()
    rtp_core_->shutdown();
    rtp_core_.reset();
    ros::shutdown();
}

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

    rtp_core_.reset(new micros_swarm::RuntimeCore());
    rtp_core_->initialize();

    // Override the default ros sigint handler.
    // This must be set after the first NodeHandle is created.
    signal(SIGINT, rtpManagerDestroySigintHandler);

    boost::thread t = boost::thread(boost::bind(&ros::spin));
    t.join();
    return 0;
}