50d500e84e
* make functions public & virtual Signed-off-by: Karsten Knese <karsten@openrobotics.org> * flexible resource index for cmake macros Signed-off-by: Karsten Knese <karsten@openrobotics.org> * review comments Signed-off-by: Karsten Knese <karsten@openrobotics.org> * remove superfluous include Signed-off-by: Karsten Knese <karsten@openrobotics.org> * remove wrong dllexort Signed-off-by: Karsten Knese <karsten@openrobotics.org> * check for empty plugin & executable args Signed-off-by: Karsten Knese <karsten@openrobotics.org> * remove commented lines Signed-off-by: Karsten Knese <karsten@openrobotics.org> * fix typo Signed-off-by: Karsten Knese <karsten@openrobotics.org> * relax macro constraints Signed-off-by: Karsten Knese <karsten@openrobotics.org>
29 lines
1 KiB
C++
29 lines
1 KiB
C++
// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <memory>
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_components/component_manager.hpp"
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int main(int argc, char * argv[])
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{
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/// Component container with a multi-threaded executor.
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rclcpp::init(argc, argv);
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auto exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
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auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
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exec->add_node(node);
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exec->spin();
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}
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