main.cpp

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#include "adapter/map.hpp"
 
int main(int argc, char* argv[]) {
  rclcpp::init(argc, argv);
 
  ControlParameters params;
  std::string adapter = params.load_config();
 
  std::shared_ptr<ControlNode> control_node = adapter_map.at(adapter)(params);
 
  rclcpp::spin(control_node);
  rclcpp::shutdown();
  return 0;
}