/**
 kint.zhao  huasheng_zyh@163.com
   2017.0721

  modified by yun.li@slamtec.com, 2019.
*/

#include <ros/ros.h>

#include  "slamware_ros_sdk_server.h"

int main(int argc, char **argv)
{
  std::string errMsg;
  ros::init(argc, argv, "slamware_ros_sdk_server_node");

  slamware_ros_sdk::SlamwareRosSdkServer rosSdkServer;
  if (!rosSdkServer.startRun(errMsg))
  {
    ROS_ERROR("failed to start slamware ros sdk server: %s.", errMsg.c_str());
    return -1;
  }

  ros::spin();

  rosSdkServer.requestStop();
  rosSdkServer.waitUntilStopped();

  return 0;
}
