main.cpp File Reference

#include <memory>
#include "subsystem_controllers/environment_perception_controller/environment_perception_controller.hpp"
#include "rclcpp/rclcpp.hpp"

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Functions
int	main (int argc, char **argv)

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 23 of file main.cpp.

{
  rclcpp::init(argc, argv);
  auto node = std::make_shared<subsystem_controllers::EnvironmentPerceptionControllerNode>(rclcpp::NodeOptions());
  
  // We use the multi threaded executor here to support the rentrent callbacks of the ros2_lifecycle_manager
  rclcpp::executors::MultiThreadedExecutor executor;
  executor.add_node(node->get_node_base_interface());
  executor.spin();
 
  rclcpp::shutdown();
 
  return 0;
}