main.cpp

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/*
 * Copyright (C) 2021 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
#include <memory>
 
#include "subsystem_controllers/environment_perception_controller/environment_perception_controller.hpp"
#include "rclcpp/rclcpp.hpp"
 
int main(int argc, char ** argv)
{
  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;
}