Apollo2.0自动驾驶之apollo/modules/calibration/republish_msg/main.cc

/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#include "gflags/gflags.h"
#include "modules/common/log.h"
#include "ros/include/ros/ros.h"

#include "modules/calibration/republish_msg/republish_msg.h"

APOLLO_MAIN(apollo::calibration::RepublishMsg);

上面是完整源码，下面是简要分析

/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#include "gflags/gflags.h"
#include "modules/common/log.h"
#include "ros/include/ros/ros.h"

#include "modules/calibration/republish_msg/republish_msg.h"

APOLLO_MAIN(apollo::calibration::RepublishMsg);//虽然这个main.cc主函数只有一句话，但是这里apollo::calibration::RepublishMsg起动了大量的关于标定的消息。在ROS中查阅TOPIC应该可以看到。