Program Listing for File as2_platform_multirotor_simulator_node.cpp
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// Copyright 2023 Universidad Politécnica de Madrid
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * 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.
//
// * Neither the name of the Universidad Politécnica de Madrid nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// 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
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
#include "as2_platform_multirotor_simulator/as2_platform_multirotor_simulator.hpp"
#include "as2_core/core_functions.hpp"
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
auto node = std::make_shared<as2_platform_multirotor_simulator::MultirotorSimulatorPlatform>();
node->preset_loop_frequency(1000); // Node frequency for run and
// callbacks
// Node with only callbacks
as2::spinLoop(node);
// Node with run
// as2::spinLoop(node,std::bind(&MultirotorSimulatorPlatform::run, node));
rclcpp::shutdown();
return 0;
}