uvsim_node.cpp

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 *  Author: Dula Nad
 *  Created: 01.02.2013.
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#include <labust/ros/SimCore.hpp>
#include <labust/ros/SimSensors.hpp>
#include <labust/tools/conversions.hpp>

#include <pluginlib/class_loader.h>
#include <ros/ros.h>

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"uvsim");
        ros::NodeHandle nh;

        //Sensor loaders
//      pluginlib::ClassLoader<labust::simulation::SimSensorInterface>
//              sim_loader("labust_sim", "labust::simulation::SimSensorInterface");

        labust::simulation::SimCore simulator;

//      typedef std::pair<std::string, std::string> NameTopicPair;
//      std::vector< NameTopicPair >
//              list({
//              NameTopicPair("labust::simulation::ImuSensor","imu"),
//              NameTopicPair("labust::simulation::GPSSensor","fix")});
//
//      try
//      {
//              using namespace labust::simulation;
//              for (auto it = list.begin(); it != list.end(); ++it)
//              {
//                      SimSensorInterface::Ptr sensor(sim_loader.createInstance(it->first));
//                      sensor->configure(nh,it->second);
//                      simulator.addSensor(sensor);
//              }
//      }
//      catch(pluginlib::PluginlibException& ex)
//      {
//        //handle the class failing to load
//        ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
//      }

        ros::spin();
        return 0;
}