slam_toolbox_sync_node.cpp

/*
 * slam_toolbox
 * Copyright Work Modifications (c) 2018, Simbe Robotics, Inc.
 * Copyright Work Modifications (c) 2019, Steve Macenski
 *
 * THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE
 * COMMONS PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY
 * COPYRIGHT AND/OR OTHER APPLICABLE LAW. ANY USE OF THE WORK OTHER THAN AS
 * AUTHORIZED UNDER THIS LICENSE OR COPYRIGHT LAW IS PROHIBITED.
 *
 * BY EXERCISING ANY RIGHTS TO THE WORK PROVIDED HERE, YOU ACCEPT AND AGREE TO
 * BE BOUND BY THE TERMS OF THIS LICENSE. THE LICENSOR GRANTS YOU THE RIGHTS
 * CONTAINED HERE IN CONSIDERATION OF YOUR ACCEPTANCE OF SUCH TERMS AND
 * CONDITIONS.
 *
 */

/* Author: Steven Macenski */

#include <memory>
#include "slam_toolbox/slam_toolbox_sync.hpp"

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  rclcpp::NodeOptions options;
  auto sync_node = std::make_shared<slam_toolbox::SynchronousSlamToolbox>(options);
  rclcpp::spin(sync_node->get_node_base_interface());
  rclcpp::shutdown();
  return 0;
}