microcontroller/src/main.cpp at main · openvmp/microcontroller · GitHub

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* OpenVMP, 2023

* Author: Roman Kuzmenko

* Created: 2023-03-26

* Licensed under Apache License, Version 2.0.

#include "rclcpp/rclcpp.hpp"

#include "remote_microcontroller/node.hpp"

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

rclcpp::init(argc, argv);

auto exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();

std::shared_ptr<remote_microcontroller::Node> node;

auto thread = std::thread([exec, &node]() {

node = std::make_shared<remote_microcontroller::Node>(exec);

exec->add_node(node);

});

exec->spin();

exec.reset();

rclcpp::shutdown();

return 0;

}

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