humotion

#include <stdio.h>

#include <humotion/server/server.h>

#include <string>

#include <iostream>

//#include "meka_data_receiver.h"

#include "mekajointinterface.h"

using namespace std;

int main(int argc, char *argv[]){

    /*Property params;

    params.fromCommand(argc, argv);

    if (!params.check("robot")){

        fprintf(stderr, "Please specify the name of the robot\n");

        fprintf(stderr, "--robot name (e.g. icub or icubSim)\n");

        return -1;

    }

    string robotName=params.find("robot").asString().c_str();

    string scope="/"+robotName;

*/

    //create humotion interface

    string scope = "/xsc3/";

    MekaJointInterface *jointinterface = new MekaJointInterface(scope);

    humotion::server::Server *humotion_server = new humotion::server::Server("/flobi", "ROS", jointinterface);

    //finally run it

    jointinterface->run();

    while(humotion_server->ok()){

        usleep(100000);

    }

    return 0;

}