diff --git a/Modules/IGT/Testing/mitkOpenIGTLinkTrackingDeviceTest.cpp b/Modules/IGT/Testing/mitkOpenIGTLinkTrackingDeviceTest.cpp
index 4f5ad5a100..9af9cc2e7f 100644
--- a/Modules/IGT/Testing/mitkOpenIGTLinkTrackingDeviceTest.cpp
+++ b/Modules/IGT/Testing/mitkOpenIGTLinkTrackingDeviceTest.cpp
@@ -1,64 +1,73 @@
 /*===================================================================
 
 The Medical Imaging Interaction Toolkit (MITK)
 
 Copyright (c) German Cancer Research Center,
 Division of Medical and Biological Informatics.
 All rights reserved.
 
 This software is distributed WITHOUT ANY WARRANTY; without
 even the implied warranty of MERCHANTABILITY or FITNESS FOR
 A PARTICULAR PURPOSE.
 
 See LICENSE.txt or http://www.mitk.org for details.
 
 ===================================================================*/
 
 //testing headers
 #include <mitkTestingMacros.h>
 #include <mitkTestFixture.h>
 
 //headers of IGT classes releated to the tested class
 #include <mitkOpenIGTLinkTrackingDevice.h>
 
 
 class mitkOpenIGTLinkTrackingDeviceTestSuite : public mitk::TestFixture
 {
   CPPUNIT_TEST_SUITE(mitkOpenIGTLinkTrackingDeviceTestSuite);
   MITK_TEST(TestInstantiation);
   MITK_TEST(TestSetConnectionParameters);
+  MITK_TEST(TestDiscoverToolMethod);
   CPPUNIT_TEST_SUITE_END();
 
 private:
   /** Members used inside the different test methods. All members are initialized via setUp().*/
   mitk::OpenIGTLinkTrackingDevice::Pointer m_OpenIGTLinkTrackingDevice;
 
 public:
 
   /**@brief Setup Always call this method before each Test-case to ensure correct and new intialization of the used members for a new test case. (If the members are not used in a test, the method does not need to be called).*/
   void setUp()
   {
     m_OpenIGTLinkTrackingDevice = mitk::OpenIGTLinkTrackingDevice::New();
   }
 
   void tearDown()
   {
   }
 
   void TestInstantiation()
   {
   // let's create objects of our classes
   mitk::OpenIGTLinkTrackingDevice::Pointer testDevice = mitk::OpenIGTLinkTrackingDevice::New();
   CPPUNIT_ASSERT_MESSAGE("Testing instantiation of OpenIGTLinkTrackingDevice",testDevice.IsNotNull());
   }
 
   void TestSetConnectionParameters()
   {
     m_OpenIGTLinkTrackingDevice->SetHostname("localhost");
     m_OpenIGTLinkTrackingDevice->SetPortNumber(10);
     CPPUNIT_ASSERT_MESSAGE("Testing method SetHostname() ...", m_OpenIGTLinkTrackingDevice->GetHostname()=="localhost");
     CPPUNIT_ASSERT_MESSAGE("Testing method SetPort() ...", m_OpenIGTLinkTrackingDevice->GetPortNumber()==10);
   }
 
+  void TestDiscoverToolMethod()
+  {
+  CPPUNIT_ASSERT_MESSAGE("Testing DiscoverTools() without initialization. (Warnings are expected)", m_OpenIGTLinkTrackingDevice->DiscoverTools()==false);
+  m_OpenIGTLinkTrackingDevice->SetPortNumber(10);
+  CPPUNIT_ASSERT_MESSAGE("Testing DiscoverTools() with initialization, but without existing server. (Warnings are expected)", m_OpenIGTLinkTrackingDevice->DiscoverTools()==false);
+
+  }
+
 };
 MITK_TEST_SUITE_REGISTRATION(mitkOpenIGTLinkTrackingDevice)
diff --git a/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingDevice.cpp b/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingDevice.cpp
index 6e6ff72e9f..1dac7c6542 100644
--- a/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingDevice.cpp
+++ b/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingDevice.cpp
@@ -1,197 +1,251 @@
 /*===================================================================
 
 The Medical Imaging Interaction Toolkit (MITK)
 
 Copyright (c) German Cancer Research Center,
 Division of Medical and Biological Informatics.
 All rights reserved.
 
 This software is distributed WITHOUT ANY WARRANTY; without
 even the implied warranty of MERCHANTABILITY or FITNESS FOR
 A PARTICULAR PURPOSE.
 
 See LICENSE.txt or http://www.mitk.org for details.
 
 ===================================================================*/
 
 #include "mitkOpenIGTLinkTrackingDevice.h"
 #include "mitkOpenIGTLinkTrackingTool.h"
 #include "mitkIGTConfig.h"
 #include "mitkIGTTimeStamp.h"
 #include "mitkIGTHardwareException.h"
 #include "mitkTrackingTypes.h"
 #include <itksys/SystemTools.hxx>
 #include <iostream>
 #include <itkMutexLockHolder.h>
+#include <igtlTrackingDataMessage.h>
 
 typedef itk::MutexLockHolder<itk::FastMutexLock> MutexLockHolder;
 
 
 mitk::OpenIGTLinkTrackingDevice::OpenIGTLinkTrackingDevice(): mitk::TrackingDevice()
 {
   //set the type of this tracking device
   this->m_Data = mitk::DeviceDataOpenIGTLinkTrackingDeviceConnection;
 
   this->m_MultiThreader = itk::MultiThreader::New();
   m_ThreadID = 0;
 
   m_OpenIGTLinkClient = mitk::IGTLClient::New();
   m_OpenIGTLinkClient->SetName("OpenIGTLink Tracking Device");
 
   m_IGTLDeviceSource =  mitk::IGTLDeviceSource::New();
   m_IGTLDeviceSource->SetIGTLDevice(m_OpenIGTLinkClient);
 
 }
 
 
 mitk::OpenIGTLinkTrackingDevice::~OpenIGTLinkTrackingDevice()
 {
 }
 
 int mitk::OpenIGTLinkTrackingDevice::GetPortNumber()
 {
   return m_OpenIGTLinkClient->GetPortNumber();
 }
 
 std::string mitk::OpenIGTLinkTrackingDevice::GetHostname()
 {
   return m_OpenIGTLinkClient->GetHostname();
 }
 
 
 void mitk::OpenIGTLinkTrackingDevice::SetPortNumber(int portNumber)
 {
   m_OpenIGTLinkClient->SetPortNumber(portNumber);
 }
 
 void mitk::OpenIGTLinkTrackingDevice::SetHostname(std::string hostname)
 {
   m_OpenIGTLinkClient->SetHostname(hostname);
 }
 
 mitk::TrackingTool* mitk::OpenIGTLinkTrackingDevice::AddTool( const char* toolName, const char* fileName )
 {
   mitk::OpenIGTLinkTrackingTool::Pointer t;// = mitk::OpenIGTLinkTrackingTool::New();
   //TODO: Implement
   if (this->InternalAddTool(t) == false)
     return NULL;
   return t.GetPointer();
 }
 
 
 bool mitk::OpenIGTLinkTrackingDevice::InternalAddTool(OpenIGTLinkTrackingTool::Pointer tool)
 {
   m_AllTools.push_back(tool);
   return true;
 }
 
 
 bool mitk::OpenIGTLinkTrackingDevice::DiscoverTools()
 {
   if (m_OpenIGTLinkClient->GetPortNumber() == -1)
     {
     MITK_WARN << "Connection not initialized, aborting (invalid port number).";
     return false;
     }
 
   try
     {
     m_IGTLDeviceSource->Connect();
     }
   catch(std::runtime_error &e)
     {
     MITK_WARN << "Open IGT Link device retruned an error while trying to connect: " << e.what();
     return false;
     }
 
+  //send a message to the server: start tracking stream
+  mitk::IGTLMessageFactory::Pointer msgFactory = m_OpenIGTLinkClient->GetMessageFactory();
+  std::string message = "STT_TDATA";
+  m_OpenIGTLinkClient->SendMessage(msgFactory->CreateInstance(message));
 
+  Sleep(500); //wait for data to arrive
+  m_IGTLDeviceSource->Update();
 
+  //check the tracking stream for the number and type of tools
+  //igtl::MessageBase::Pointer receivedMessage = m_OpenIGTLinkClient->GetNextMessage();
+  mitk::IGTLMessage::Pointer receivedMessage = m_IGTLDeviceSource->GetOutput();
+  if (receivedMessage.IsNull())
+    {
+    MITK_WARN << "No message was received. Is there really a server?";
+    return false;
+    }
+  else if (receivedMessage->IsDataValid())
+    {
+    MITK_WARN << "Received invalid message.";
+    return false;
+    }
 
-  //TODO: Implement
+  const char* msgType = receivedMessage->GetIGTLMessageType();
+
+  if( !(strcmp(msgType,"TDATA") == 0) )
+    {
+    MITK_INFO << "Server does not send tracking data (received data is not of the type TDATA)";
+    return true;
+    }
+
+
+  igtl::TrackingDataMessage* tdMsg = (igtl::TrackingDataMessage*)(receivedMessage->GetMessage().GetPointer());
+
+  if(!tdMsg)
+    {
+     MITK_WARN << "Cannot cast message object as expected, aborting!";
+     return false;
+    }
+
+  int numberOfTools = tdMsg->GetNumberOfTrackingDataElements();
+  MITK_INFO << "Found " << numberOfTools << " tools";
+  for(int i=0; i<numberOfTools; i++)
+    {
+    mitk::OpenIGTLinkTrackingTool::Pointer newTool = mitk::OpenIGTLinkTrackingTool::New();
+    igtl::TrackingDataElement::Pointer currentTrackingData;
+    tdMsg->GetTrackingDataElement(i,currentTrackingData);
+    std::string name = currentTrackingData->GetName();
+    if (name == "") //if no name was given create a default name
+      {
+      std::stringstream defaultName;
+      defaultName << "OpenIGTLinkTool#" << i;
+      name = defaultName.str();
+      }
+    MITK_INFO << "Added tool " << name << " to tracking device.";
+    newTool->SetToolName(name);
+    this->InternalAddTool(newTool);
+    }
 
   return true;
 }
 
 
 bool mitk::OpenIGTLinkTrackingDevice::StartTracking()
 {
   //TODO: Implement
   return false;
 }
 
 
 bool mitk::OpenIGTLinkTrackingDevice::StopTracking()
 {
   Superclass::StopTracking();
   return true;
 }
 
 
 unsigned int mitk::OpenIGTLinkTrackingDevice::GetToolCount() const
 {
   return (unsigned int)this->m_AllTools.size();
 }
 
 
 mitk::TrackingTool* mitk::OpenIGTLinkTrackingDevice::GetTool(unsigned int toolNumber) const
 {
   if ( toolNumber >= this->GetToolCount())
     return NULL;
   else
     return this->m_AllTools[toolNumber];
 }
 
 
 bool mitk::OpenIGTLinkTrackingDevice::OpenConnection()
 {
   bool returnValue = false;
   if (!m_OpenIGTLinkClient->TestConnection()) //TestConnection() not implemented yet!
     {
     MITK_WARN << "No connection available, aborting!";
     return false;
     }
 
 
   return returnValue;
 }
 
 
 bool mitk::OpenIGTLinkTrackingDevice::CloseConnection()
 {
   bool returnValue = false;
   //TODO: Implement
   return returnValue;
 }
 
 std::vector<mitk::OpenIGTLinkTrackingTool::Pointer> mitk::OpenIGTLinkTrackingDevice::GetAllTools()
 {
   return this->m_AllTools;
 }
 
 
 void mitk::OpenIGTLinkTrackingDevice::TrackTools()
 {
   //TODO: Implement
 }
 
 
 
 ITK_THREAD_RETURN_TYPE mitk::OpenIGTLinkTrackingDevice::ThreadStartTracking(void* pInfoStruct)
 {
   /* extract this pointer from Thread Info structure */
   struct itk::MultiThreader::ThreadInfoStruct * pInfo = (struct itk::MultiThreader::ThreadInfoStruct*)pInfoStruct;
   if (pInfo == NULL)
   {
     return ITK_THREAD_RETURN_VALUE;
   }
   if (pInfo->UserData == NULL)
   {
     return ITK_THREAD_RETURN_VALUE;
   }
   OpenIGTLinkTrackingDevice *trackingDevice = (OpenIGTLinkTrackingDevice*)pInfo->UserData;
 
   if (trackingDevice != NULL)
     trackingDevice->TrackTools();
 
   return ITK_THREAD_RETURN_VALUE;
 }
diff --git a/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingDevice.h b/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingDevice.h
index 5273c80db4..a422b96214 100644
--- a/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingDevice.h
+++ b/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingDevice.h
@@ -1,153 +1,152 @@
 /*===================================================================
 
 The Medical Imaging Interaction Toolkit (MITK)
 
 Copyright (c) German Cancer Research Center,
 Division of Medical and Biological Informatics.
 All rights reserved.
 
 This software is distributed WITHOUT ANY WARRANTY; without
 even the implied warranty of MERCHANTABILITY or FITNESS FOR
 A PARTICULAR PURPOSE.
 
 See LICENSE.txt or http://www.mitk.org for details.
 
 ===================================================================*/
 
 #ifndef MITKOPENIGTLINKTRACKINGDEVICE_H_HEADER_INCLUDED_
 #define MITKOPENIGTLINKTRACKINGDEVICE_H_HEADER_INCLUDED_
 
 
 #include <mitkIGTConfig.h>
 #include <mitkTrackingDevice.h>
 #include <mitkOpenIGTLinkTrackingTool.h>
 #include <mitkIGTLClient.h>
 #include <mitkIGTLDeviceSource.h>
 #include <mitkIGTLMessageToNavigationDataFilter.h>
 #include <itkMultiThreader.h>
 
 
 namespace mitk
 {
   /** Documentation:
   *   \brief An object of this class represents the MicronTracker device. You can add tools to this
   *          device, then open the connection and start tracking. The tracking device will then
   *          continuously update the tool coordinates.
   *   \ingroup IGT
   */
   class MitkIGT_EXPORT OpenIGTLinkTrackingDevice : public TrackingDevice
   {
   public:
-    friend class OpenIGTLinkTrackingTrackingTool;
     mitkClassMacro(OpenIGTLinkTrackingDevice, TrackingDevice);
     itkFactorylessNewMacro(Self)
     itkCloneMacro(Self)
 
     /** Sets the port number for the Open IGT Link connection. Default value is -1 (invalid). */
     void SetPortNumber(int portNumber);
 
     /** Sets the hostname for the Open IGT Link connection. Default value is 127.0.0.1 (localhost). */
     void mitk::OpenIGTLinkTrackingDevice::SetHostname(std::string hostname);
 
     int GetPortNumber();
 
     std::string GetHostname();
 
     /**
     * \brief Starts the tracking.
     * \return Returns true if the tracking is started. Throws an exception if an error occures.
     * @throw mitk::IGTHardwareException Throws an exception if there is an error during start tracking.
     */
     virtual bool StartTracking();
 
     /**
     * \brief Stops the tracking.
     * \return Returns true if the tracking is stopped.
     */
     virtual bool StopTracking();
 
     /**
     * \brief Opens the connection to the device. This have to be done before the tracking is started.
     * @throw mitk::IGTHardwareException Throws an exception if there is an error during open connection.
     */
     virtual bool OpenConnection();
 
     /**
     * \brief Closes the connection and clears all resources.
     */
     virtual bool CloseConnection();
 
     /**
     * \return Returns the number of tools which have been added to the device.
     */
     virtual unsigned int GetToolCount() const;
 
     /**
     * \param toolNumber The number of the tool which should be given back.
     * \return Returns the tool which the number "toolNumber". Returns NULL, if there is
     * no tool with this number.
     */
     TrackingTool* GetTool(unsigned int toolNumber)  const;
 
     /**
     * \brief Discover the tools available from the connected OpenIGTLink device and adds these tools to this tracking device. Therefore, a connection
     *        is opened, the tools are discovered and added.
     * \return Returns true if the connection was established and the tools were discovered successfully and - if at least one tool was found - were added to this device.
     *         Retruns false if no valid connection is available.
     */
     bool DiscoverTools();
 
 
     /**
     * \brief Create a new OpenIGTLink tool with toolName and fileName and add it to the list of tools
     *
     * Note that tools are usually provided by the OpenIGTLink connection. In most cases, the method DiscoverTools() should be used
     * instead which automatically finds the provided tools. If you use this method to manually add tools be sure that you add the
     * same number and type of tools that are provided by the connected device. Otherwise problems might occur when you try to start
     * tracking.
     */
     mitk::TrackingTool* AddTool(const char* toolName, const char* fileName);
 
   protected:
     OpenIGTLinkTrackingDevice();
     ~OpenIGTLinkTrackingDevice();
 
     /**
     * \brief Adds a tool to the tracking device.
     *
     * \param tool  The tool which will be added.
     * \return Returns true if the tool has been added, false otherwise.
     */
     bool InternalAddTool(OpenIGTLinkTrackingTool::Pointer tool);
 
     /**
     * \brief This method tracks tools as long as the variable m_Mode is set to "Tracking".
     * Tracking tools means grabbing frames from the camera an updating the tools.
     * @throw mitk::IGTHardwareException Throws an exception if there is an error during tracking of tools.
     */
     void TrackTools();
 
 
 
     /**
     * \return Returns all tools of the tracking device.
     */
     std::vector<OpenIGTLinkTrackingTool::Pointer> GetAllTools();
 
     //OpenIGTLink connection class
     mitk::IGTLClient::Pointer m_OpenIGTLinkClient;
 
     //OpenIGTLink pipeline
     mitk::IGTLDeviceSource::Pointer m_IGTLDeviceSource;
     mitk::IGTLMessageToNavigationDataFilter::Pointer m_IGTLMsgToNavDataFilter;
 
 
     static ITK_THREAD_RETURN_TYPE ThreadStartTracking(void* data);
 
     std::vector<OpenIGTLinkTrackingTool::Pointer> m_AllTools; ///< vector holding all tools
     itk::MultiThreader::Pointer m_MultiThreader;
     int m_ThreadID;
 
   };
 }//mitk
 #endif /* MITKOpenIGTLinkTRACKINGDEVICE_H_HEADER_INCLUDED_ */
diff --git a/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingTool.h b/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingTool.h
index ec7d01d730..cb965258ed 100644
--- a/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingTool.h
+++ b/Modules/IGT/TrackingDevices/mitkOpenIGTLinkTrackingTool.h
@@ -1,46 +1,46 @@
 /*===================================================================
 
 The Medical Imaging Interaction Toolkit (MITK)
 
 Copyright (c) German Cancer Research Center,
 Division of Medical and Biological Informatics.
 All rights reserved.
 
 This software is distributed WITHOUT ANY WARRANTY; without
 even the implied warranty of MERCHANTABILITY or FITNESS FOR
 A PARTICULAR PURPOSE.
 
 See LICENSE.txt or http://www.mitk.org for details.
 
 ===================================================================*/
 
 #ifndef MITKOpenIGTLinkTrackingTOOL_H_HEADER_INCLUDED_
 #define MITKOpenIGTLinkTrackingTOOL_H_HEADER_INCLUDED_
 
 #include <mitkInternalTrackingTool.h>
 #include <itkFastMutexLock.h>
 
 namespace mitk
 {
   class OpenIGTLinkTrackingDevice;
   /** Documentation:
   *   \brief  An object of this class represents a OpenIGTLink tracking tool.
   *           A tool has to be added to a tracking device which will then
   *           continuously update the tool coordinates.
   *   \ingroup IGT
   */
   class MitkIGT_EXPORT OpenIGTLinkTrackingTool : public InternalTrackingTool
   {
   public:
     friend class OpenIGTLinkTrackingTrackingDevice;
     mitkClassMacro(OpenIGTLinkTrackingTool, InternalTrackingTool);
 
-
-  protected:
     itkFactorylessNewMacro(Self)
+  protected:
+
     itkCloneMacro(Self)
     OpenIGTLinkTrackingTool();
     virtual ~OpenIGTLinkTrackingTool();
   };
 }//mitk
 #endif // MITKOpenIGTLinkTrackingTOOL_H_HEADER_INCLUDED_