Carma-platform v4.2.0
CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication.
multiple_object_tracker_node.cpp
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1// Copyright 2023 Leidos
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15#include <rclcpp/rclcpp.hpp>
16
18
19#include <memory>
20
21auto main(int argc, char * argv[]) -> int
22{
23 rclcpp::init(argc, argv);
24
25 auto node{std::make_shared<carma_cooperative_perception::MultipleObjectTrackerNode>(
26 rclcpp::NodeOptions{})};
27
28 rclcpp::executors::SingleThreadedExecutor executor;
29 executor.add_node(node->get_node_base_interface());
30 executor.spin();
31
32 rclcpp::shutdown();
33
34 return 0;
35}
auto main(int argc, char *argv[]) -> int