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.
main.cpp
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1
2/*
3 * Copyright (C) 2021 LEIDOS.
4 *
5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
6 * use this file except in compliance with the License. You may obtain a copy of
7 * the License at
8 *
9 * http://www.apache.org/licenses/LICENSE-2.0
10 *
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
13 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
14 * License for the specific language governing permissions and limitations under
15 * the License.
16 */
17
18#include <memory>
19
21#include "rclcpp/rclcpp.hpp"
22
23int main(int argc, char ** argv)
24{
25 rclcpp::init(argc, argv);
26 auto node = std::make_shared<subsystem_controllers::DriversControllerNode>(rclcpp::NodeOptions());
27
28 // We use the multi threaded executor here to support the rentrent callbacks of the ros2_lifecycle_manager
29 rclcpp::executors::MultiThreadedExecutor executor;
30 executor.add_node(node->get_node_base_interface());
31 executor.spin();
32
33 rclcpp::shutdown();
34
35 return 0;
36}
int main(int argc, char **argv)
Definition: main.cpp:20