Function main

btcpp_ros2_samples/src/sample_bt_executor.cpp:61–77

};

int main(int argc, char* argv[])
{
  rclcpp::init(argc, argv);

  rclcpp::NodeOptions options;
  auto action_server = std::make_shared<MyActionServer>(options);

  // TODO: This workaround is for a bug in MultiThreadedExecutor where it can deadlock when spinning without a timeout.
  // Deadlock is caused when Publishers or Subscribers are dynamically removed as the node is spinning.
  rclcpp::executors::MultiThreadedExecutor exec(rclcpp::ExecutorOptions(), 0, false,
                                                std::chrono::milliseconds(250));
  exec.add_node(action_server->node());
  exec.spin();
  exec.remove_node(action_server->node());

  rclcpp::shutdown();
}