int main(int argc, char** argv) { std::string node_name("obstacle_detector"); ros::init(argc, argv, node_name.c_str()); ros::NodeHandle node_handle; ObstacleDetector obstacle_detector(node_name, node_handle); ros::spin(); return 0; }
int main(int argc, char** argv) { std::string node_name; // if (argc>1){ // node_name = std::string("interpreter_obstacleDetector_") + std::string(argv[1]); // } // else{ // node_name = std::string("interpreter_obstacleDetector_0"); // } ros::init(argc, argv, node_name.c_str()); ros::NodeHandle nh; ObstacleDetector obstacle_detector(argc, argv, nh); ros::Rate loop_rate(LOOP_RATE); ROS_INFO("Obstacle Detector Thread Started..."); while (ros::ok()) { ros::spinOnce(); loop_rate.sleep(); } ROS_INFO("Obstacle code exiting"); return 0; }
int main(int argc, char** argv) { std::string node_name; if (argc>1) { node_name = std::string("interpreter_obstacleDetector_") + std::string(argv[1]); } else { node_name = std::string("interpreter_obstacleDetector_0"); } ros::init(argc, argv, node_name.c_str()); ros::NodeHandle nh; ObstacleDetector obstacle_detector(argc, argv, nh); //image_transport::Subscriber sub = lane_detector.getLaneNode()->subscribe("camera/image", 2, &LaneDetector::getLanes, &lane_detector); ros::Rate loop_rate(LOOP_RATE); ROS_INFO("Obstacle Detector Thread Started..."); while (ros::ok()) { ros::spinOnce(); loop_rate.sleep(); } ROS_INFO("Obstacle code exiting"); return 0; }