main.cpp

#include "simple_dgm.hpp"

int main(int, char* [])
{
    std::string yaml_params_file =
        TEST_CONFIG_PATH + std::string("simple_robot.yaml");
    std::cout << "Loading paramters from " << yaml_params_file << std::endl;
    YAML::Node param = YAML::LoadFile(yaml_params_file);
    dynamic_graph_manager::SimpleDGM dgm;

    dgm.initialize(param);
    dgm.run();
    ros::waitForShutdown();
}