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buffer_server_main.cpp
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buffer_server_main.cpp
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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Wim Meeussen
*********************************************************************/
#include <tf2_ros/buffer_server.h>
#include <tf2_ros/transform_listener.h>
#include <ros/ros.h>
class MyClass
{
public:
MyClass() {}
MyClass(double d) {}
};
class BlankClass
{
public:
BlankClass() {}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "tf_buffer");
ros::NodeHandle nh;
double buffer_size;
nh.param("buffer_size", buffer_size, 120.0);
// WIM: this works fine:
tf2_ros::Buffer buffer_core(ros::Duration(buffer_size+0)); // WTF??
tf2_ros::TransformListener listener(buffer_core);
tf2_ros::BufferServer buffer_server(buffer_core, "tf2_buffer_server", false);
buffer_server.start();
// But you should probably read this instead:
// http://www.informit.com/guides/content.aspx?g=cplusplus&seqNum=439
ros::spin();
}