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#include <ros/ros.h>
#include <nodelet/loader.h>

int main(int argc, char **argv)
{
    ros::init(argc, argv, "@NODE_NAME@", ros::init_options::AnonymousName);
    if (ros::names::remap("image") == "image") {
        ROS_WARN("Topic 'image' has not been remapped! Typical command-line usage:\n"
                 "\t$ rosrun image_rotate image_rotate image:=<image topic> [transport]");
    }

    // need to use 1 worker thread to prevent freezing in imshow, calling imshow from mutiple threads
    //nodelet::Loader manager(false);
    ros::param::set("~num_worker_threads", 1); // need to call   Loader(bool provide_ros_api = true);
    nodelet::Loader manager(true);
    nodelet::M_string remappings;
    nodelet::V_string my_argv(argv + 1, argv + argc);
    my_argv.push_back("--shutdown-on-close"); // Internal

    manager.load(ros::this_node::getName(), "@NODELET_NAME@", remappings, my_argv);

    ros::spin();
    return 0;
}
