// Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
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/** \file
 *
 *  ROS driver node for the Velodyne 3D LIDARs.
 */

#include <ros/ros.h>
#include "velodyne_driver/driver.h"

int main(int argc, char** argv)
{
  ros::init(argc, argv, "velodyne_node");
  ros::NodeHandle node;
  ros::NodeHandle private_nh("~");

  // start the driver
  velodyne_driver::VelodyneDriver dvr(node, private_nh);

  // loop until shut down or end of file
  while(ros::ok())
    {
      // poll device until end of file
      bool polled_ = dvr.poll();
      if (!polled_)
        ROS_ERROR_THROTTLE(1.0, "Velodyne - Failed to poll device.");

      ros::spinOnce();
    }

  return 0;
}