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component_container.cpp
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29 lines (25 loc) · 1.01 KB
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// Copyright 2019 Open Source Robotics Foundation, Inc.
//
// 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 <memory>
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_components/component_manager.hpp"
int main(int argc, char * argv[])
{
/// Component container with a single-threaded executor.
rclcpp::init(argc, argv);
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
exec->add_node(node);
exec->spin();
}