/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010-2012, 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
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 *
 *
 */

/*
 * Author: Paul Bovbel
 */

#include <nodelet/loader.h>
#include <ros/ros.h>
#include <string>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "pointcloud_to_laserscan_node");
  ros::NodeHandle private_nh("~");
  int concurrency_level;
  private_nh.param<int>("concurrency_level", concurrency_level, 0);

  nodelet::Loader nodelet;
  nodelet::M_string remap(ros::names::getRemappings());
  nodelet::V_string nargv;
  std::string nodelet_name = ros::this_node::getName();
  nodelet.load(nodelet_name, "pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet", remap, nargv);

  boost::shared_ptr<ros::MultiThreadedSpinner> spinner;
  if (concurrency_level)
  {
    spinner.reset(new ros::MultiThreadedSpinner(concurrency_level));
  }
  else
  {
    spinner.reset(new ros::MultiThreadedSpinner());
  }
  spinner->spin();
  return 0;
}