Revision 61ca8481 server/src/main.cpp
server/src/main.cpp | ||
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* |
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*/ |
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#include "MiddlewareRSB.h" |
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#include "MiddlewareROS.h" |
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#include "Arbiter.h" |
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... | ... | |
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int main(int argc, char* argv[]) { |
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if ((argc != 5) && (argc != 6)) { |
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printf("> ERROR: invalid number of parameters passed to server!\n\nusage: %s <mw_hlrc> <mw_humotion> <base scopename " |
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"hlrc> <base scopename humotion> [<audio output>] (example: %s RSB RSB /flobi1/ pulse )\n",
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"hlrc> <base scopename humotion> [<audio output>] \n", |
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argv[0], argv[0]); |
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printf(" audio output is optional and can be {pulse,oss,alsa,null,sndio,..}\n\n"); |
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exit(EXIT_FAILURE); |
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middleware = new MiddlewareROS(arbiter, scope_hlrc); |
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} |
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else { |
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middleware = new MiddlewareRSB(arbiter, scope_hlrc);
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printf("> ERROR: invalid middleware! Only ROS supported)\n");
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} |
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// human motion connection: |
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