vrpn_tracker_node.cpp

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#include "vrpn_client_ros/vrpn_client_ros.h"
 
#include <string>
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "vrpn_tracker_node");
  ros::NodeHandle nh, private_nh("~");
 
  std::string tracker_name;
  if (!private_nh.getParam("tracker_name", tracker_name))
  {
    ROS_FATAL_STREAM("Must provide paramter tracker_name for node " << private_nh.getNamespace());
  }
 
  std::string host = vrpn_client_ros::VrpnClientRos::getHostStringFromParams(private_nh);
  vrpn_client_ros::VrpnTrackerRos tracker(tracker_name, host, nh);
 
  ros::spin();
  return 0;
}