Function main

turtlebot3_node/src/node_main.cpp:37–70

}

int main(int argc, char * argv[])
{
  setvbuf(stdout, NULL, _IONBF, BUFSIZ);

  if (rcutils_cli_option_exist(argv, argv + argc, "-h")) {
    help_print();
    return 0;
  }

  rclcpp::init(argc, argv);

  std::string usb_port = "/dev/ttyACM0";
  char * cli_options;
  cli_options = rcutils_cli_get_option(argv, argv + argc, "-i");
  if (nullptr != cli_options) {
    usb_port = std::string(cli_options);
  }

  rclcpp::executors::SingleThreadedExecutor executor;

  auto turtlebot3 = std::make_shared<robotis::turtlebot3::TurtleBot3>(usb_port);
  auto diff_drive_controller =
    std::make_shared<robotis::turtlebot3::DiffDriveController>(
    turtlebot3->get_wheels()->separation,
    turtlebot3->get_wheels()->radius);

  executor.add_node(turtlebot3);
  executor.add_node(diff_drive_controller);
  executor.spin();

  rclcpp::shutdown();

  return 0;
}