micro-ROS-Agent/micro_ros_agent/src/main.cpp at bump/lyrical · micro-ROS/micro-ROS-Agent · GitHub

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// 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 <agent/Agent.hpp>

#include <string>

#include <vector>

int main(int argc, char** argv)

{

uros::agent::Agent micro_ros_agent;

/** Bypass '--ros-args' flag, as we use our own CLI parser.

* As a workaround for launch files, arguments will be passed from

* ros2launch as a single token with spaces,

* to preserve the correct argument order; split it here.

* TODO(jamoralp): investigate ROS2 tools for properly parsing params from launch

**/

std::vector<std::string> params;

for (int i = 0; i < argc; ++i)

{

if(strcmp("--ros-args", argv[i]) == 0)

{

argc = i;

break;

}

params.emplace_back(std::string(argv[i]));

}

auto it = std::find(params.begin(), params.end(), "--ros-args");

if (params.end() != it)

{

if ((it - params.begin()) != 2)

{

std::ostringstream ss;

ss << "Error: when using ros2 launch, please specify ";

ss << "your arguments in a single variable." << std::endl;

ss << "Instead of 'arguments: {'udp4', '-p', '8888'}', do ";

ss << "'arguments: {'udp4 -p 8888'}" << std::endl;

std::cerr << ss.str();

return 1;

}

const std::string& agent_args(params.at(1));

std::istringstream iss(agent_args);

std::vector<std::string> agent_args_split(

std::istream_iterator<std::string>{iss},

std::istream_iterator<std::string>());

char** agent_argv = new char*[agent_args_split.size() + 1];

agent_argv[0] = argv[0];

char** agent_argv_it = &agent_argv[1];

for (const auto& arg : agent_args_split)

{

*agent_argv_it = new char[arg.length() + 1];

strcpy(*agent_argv_it, arg.c_str());

agent_argv_it++;

}

bool success = micro_ros_agent.create(agent_args_split.size() + 1, agent_argv);

for (size_t i = 1; i <= agent_args_split.size(); ++i)

{

delete [] agent_argv[i];

}

delete [] agent_argv;

if (!success)

{

return 1;

}

else if (!micro_ros_agent.create(argc, argv))

{

return 1;

}

micro_ros_agent.run();

return 0;

}

micro-ROS-Agent/micro_ros_agent/src/main.cpp at bump/lyrical · micro-ROS/micro-ROS-Agent · GitHub

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