int main()

in src/k4a_ros_bridge_node.cpp [17:57]

• 28 lines of code
• 4 McCabe index (conditional complexity)

int main(int argc, char** argv)
{
  ros::init(argc, argv, "k4a_bridge");

  // Setup the K4A device
  std::shared_ptr<K4AROSDevice> device(new K4AROSDevice);

  k4a_result_t result = device->startCameras();

  if (result != K4A_RESULT_SUCCEEDED)
  {
    ROS_ERROR_STREAM("Failed to start cameras");
    return -1;
  }

  result = device->startImu();
  if (result != K4A_RESULT_SUCCEEDED)
  {
    ROS_ERROR_STREAM("Failed to start IMU");
    return -2;
  }

  ROS_INFO("K4A Started");

  if (result == K4A_RESULT_SUCCEEDED)
  {
    ros::spin();

    ROS_INFO("ROS Exit Started");
  }

  device.reset();

  ROS_INFO("ROS Exit");

  ros::shutdown();

  ROS_INFO("ROS Shutdown complete");

  return 0;
}