void init( const std::string& hostname )
{
    // Initialize the actors
  
    // Connect
    std::cout << "Connecting... ";
    com.setAddress( hostname.c_str() );
  
    com.connectToServer( true );
  
    if( false == com.isConnected() )
    {
        std::cout << std::endl << "Could not connect to " << com.address() << std::endl;
  
  	rec::robotino::api2::shutdown();
  	exit( 1 );
    }
    
    else
    {
  	std::cout << "success" << std::endl;
          
        cbha.setCompressorsEnabled( true );
        cbha.setGripperValve1( false );
        cbha.setGripperValve2( false );
          
        odometry.set(0,0,0,false);
          
    }
}