00001 /* 00002 * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin 00003 * License: Modified BSD Software License Agreement 00004 * 00005 * $Id$ 00006 */ 00007 00016 #include <ros/ros.h> 00017 #include "colors.h" 00018 00020 int main(int argc, char **argv) 00021 { 00022 ros::init(argc, argv, "colors_node"); 00023 ros::NodeHandle node; 00024 ros::NodeHandle priv_nh("~"); 00025 00026 // create conversion class, which subscribes to input messages 00027 velodyne_pointcloud::RingColors colors(node, priv_nh); 00028 00029 // handle callbacks until shut down 00030 ros::spin(); 00031 00032 return 0; 00033 }