/*
 * Copyright 2011,
 * Olivier Stasse,
 *
 * CNRS
 *
 * This file is part of dynamic_graph_bridge.
 * dynamic_graph_bridge is free software: you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 * dynamic_graph_bridge is distributed in the hope that it will be
 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
 * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.  You should
 * have received a copy of the GNU Lesser General Public License along
 * with dynamic_graph_bridge.  If not, see <http://www.gnu.org/licenses/>.
 */
#include <boost/thread/thread.hpp>
#include <boost/thread/condition.hpp>

#include <iostream>

#define ENABLE_RT_LOG
#include <dynamic-graph/real-time-logger.h>

#include <dynamic_graph_bridge/sot_loader.hh>


int main(int argc, char *argv[])
{
  dgADD_OSTREAM_TO_RTLOG (std::cerr);

  ros::init(argc, argv, "sot_ros_encapsulator");
  SotLoader aSotLoader;
  if (aSotLoader.parseOptions(argc,argv)<0)
    return -1;
  
  aSotLoader.initializeRosNode(argc,argv);

  ros::spin();
  return 0;
}