config_server_node_main.cpp

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// Copyright (c) 2021 Pilz GmbH & Co. KG
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#include <ros/ros.h>
 
#include "psen_scan_v2/config_server_node.h"
#include "psen_scan_v2/ros_parameter_handler.h"
 
const std::string CONFIG_FILE{ "config_file" };
const std::string FRAME_ID{ "frame_id" };
 
using namespace psen_scan_v2;
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "config_server_node");
  ros::NodeHandle nh;
  ros::NodeHandle pnh{ "~" };
 
  try
  {
    psen_scan_v2::ConfigServerNode config_server_node(nh,
                                                      getRequiredParamFromServer<std::string>(pnh, CONFIG_FILE).c_str(),
                                                      getRequiredParamFromServer<std::string>(pnh, FRAME_ID));
 
    ros::spin();
  }
  // LCOV_EXCL_START
  catch (std::exception& e)
  {
    ROS_ERROR_STREAM(e.what());
  }
  // LCOV_EXCL_STOP
 
  return 0;
}