camera1394_node.cpp

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/* $Id$ */

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*  Copyright (c) 2010 Jack O'Quin
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#include <signal.h>
#include "driver1394.h"

void sigsegv_handler(int sig)
{
  signal(SIGSEGV, SIG_DFL);
  fprintf(stderr, "Segmentation fault, stopping camera driver.\n");
  ROS_ERROR("Segmentation fault, stopping camera.");
  ros::shutdown();                      // stop the main loop
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "camera1394_node");
  ros::NodeHandle node;
  ros::NodeHandle priv_nh("~");
  ros::NodeHandle camera_nh("camera");
  signal(SIGSEGV, &sigsegv_handler);
  camera1394_driver::Camera1394Driver dvr(priv_nh, camera_nh);

  dvr.setup();
  while (node.ok())
    {
      dvr.poll();
      ros::spinOnce();
    }
  dvr.shutdown();

  return 0;
}