text: /**
   * BSD 3-Clause License
   *
   * @copyright (c) 2019, Umang Rastogi
   * All rights reserved.
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   * Redistributions of source code must retain the above copyright notice, this
   * list of conditions and the following disclaimer.
   * Redistributions in binary form must reproduce the above copyright notice,
   * this list of conditions and the following disclaimer in the documentation
   * and/or other materials provided with the distribution.
   * Neither the name of the copyright holder nor the names of its
   * contributors may be used to endorse or promote products derived from
   * this software without specific prior written permission.
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
   * @file main.cpp
   * @author Umang Rastogi
   * @brief Source file to run obstacle avoidance on a turtlebot
   */
  
  #include "obstacle_avoidance/obstacle_avoidance.h"
  
  /**
   * @brief Starts the turtlebot
   * @param argc  Count of arguments
   * 		    argv  Pointer to arguments
   * @return nothing
   */
  int main(int argc, char* argv[]) {
    /// Initialize the ROS node
    ros::init(argc, argv, "obstacle_avoidance");
    /// Create object for obstacle avoidance class
    ObstacleAvoidance obstacleAvoidance;
    /// Start the robot to show obstacle avoidance behavior
    obstacleAvoidance.startBot();
    return 0;
  }
  