00001 00032 #include "vrpn_client_ros/vrpn_client_ros.h" 00033 00034 #include <string> 00035 00036 int main(int argc, char **argv) 00037 { 00038 ros::init(argc, argv, "vrpn_tracker_node"); 00039 ros::NodeHandle nh, private_nh("~"); 00040 00041 std::string tracker_name; 00042 if (!private_nh.getParam("tracker_name", tracker_name)) 00043 { 00044 ROS_FATAL_STREAM("Must provide paramter tracker_name for node " << private_nh.getNamespace()); 00045 } 00046 00047 std::string host = vrpn_client_ros::VrpnClientRos::getHostStringFromParams(private_nh); 00048 vrpn_client_ros::VrpnTrackerRos tracker(tracker_name, host, nh); 00049 00050 ros::spin(); 00051 return 0; 00052 }