// Copyright 2021, Apex.AI Inc.
//
// 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 <memory>
#include "wait_set/talker.hpp"
#include "wait_set/listener.hpp"
#include "rclcpp/rclcpp.hpp"

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::executors::SingleThreadedExecutor exec;
  rclcpp::NodeOptions options;
  auto talker = std::make_shared<Talker>(options);
  auto listener = std::make_shared<Listener>(options);
  exec.add_node(talker);
  exec.add_node(listener);
  exec.spin();
  rclcpp::shutdown();
  return 0;
}