text: //
  //  main.cpp
  //  atlas_viz
  //
  //  Created by Janis on 26.03.15.
  //  Copyright (c) 2015 Janis. All rights reserved.
  //
  
  #include <iostream>
  #include <stdio.h>
  #include <stdlib.h>
  #include <unistd.h>
  #include <csignal>
  #include <exception>
  
  #include "ros/ros.h"
  
  #include "atlas/Visualizer.h"
  
  
  void signal_handler(int signal)
  {
      std::cerr << " Quitting..." << std::endl;
      ros::shutdown();
      exit (EXIT_SUCCESS);
  }
  
  int main(int argc, char **argv)
  {
      std::signal(SIGINT, signal_handler);
  
      ros::init(argc, argv, "atlas_viz");
  
      ros::NodeHandle n("~");
      ros::Rate rate(0.2);
  
      Visualizer viz;
      viz.initialize(n);
  
      while (ros::ok())
      {
          viz.visualizeAnchors();
          ros::spinOnce();
          rate.sleep();
      }
  
      return 0;
  }
  
  
  