rslidar_sdk_node.cpp

/*********************************************************************************************************************
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License Agreement
For RoboSense LiDAR SDK Library
(3-clause BSD License)

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
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disclaimer.

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#include <signal.h>
#include "manager/adapter_manager.h"
using namespace robosense::lidar;
std::mutex g_mtx;
std::condition_variable g_cv;
static void sigHandler(int sig)
{
  RS_MSG << "RoboSense-LiDAR-Driver is stopping....." << RS_REND;
#ifdef ROS_FOUND
  ros::shutdown();
#endif
  g_cv.notify_all();
}

int main(int argc, char** argv)
{
  signal(SIGINT, sigHandler);  ///< bind ctrl+c signal with the sigHandler function
  RS_TITLE << "********************************************************" << RS_REND;
  RS_TITLE << "**********                                    **********" << RS_REND;
  RS_TITLE << "**********    RSLidar_SDK Version: v" << RSLIDAR_VERSION_MAJOR << "." << RSLIDAR_VERSION_MINOR << "."
           << RSLIDAR_VERSION_PATCH << "     **********" << RS_REND;
  RS_TITLE << "**********                                    **********" << RS_REND;
  RS_TITLE << "********************************************************" << RS_REND;

  std::shared_ptr<AdapterManager> demo_ptr = std::make_shared<AdapterManager>();
  YAML::Node config;
  try
  {
    config = YAML::LoadFile((std::string)PROJECT_PATH + "/config/config.yaml");
  }
  catch (...)
  {
    RS_ERROR << "Config file format wrong! Please check the format(e.g. indentation) " << RS_REND;
    return -1;
  }

#ifdef ROS_FOUND  ///< if ROS is found, call the ros::init function
  ros::init(argc, argv, "rslidar_sdk_node", ros::init_options::NoSigintHandler);
#endif

#ifdef ROS2_FOUND  ///< if ROS2 is found, call the rclcpp::init function
  rclcpp::init(argc, argv);
#endif

  demo_ptr->init(config);
  demo_ptr->start();
  RS_MSG << "RoboSense-LiDAR-Driver is running....." << RS_REND;

#ifdef ROS_FOUND
  ros::spin();
#else
  std::unique_lock<std::mutex> lck(g_mtx);
  g_cv.wait(lck);
#endif
  return 0;
}