robot_state.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2011, Southwest Research Institute
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *      * Redistributions of source code must retain the above copyright
00011  *      notice, this list of conditions and the following disclaimer.
00012  *      * Redistributions in binary form must reproduce the above copyright
00013  *      notice, this list of conditions and the following disclaimer in the
00014  *      documentation and/or other materials provided with the distribution.
00015  *      * Neither the name of the Southwest Research Institute, nor the names
00016  *      of its contributors may be used to endorse or promote products derived
00017  *      from this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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00031 
00032 #include "ros/ros.h"
00033 #include "simple_message/socket/simple_socket.h"
00034 #include "simple_message/socket/udp_client.h"
00035 #include "simple_message/socket/tcp_client.h"
00036 #include "adept_common/joint_relay_handler.h"
00037 #include "simple_message/message_manager.h"
00038 
00039 using namespace industrial::udp_client;
00040 using namespace industrial::tcp_client;
00041 using namespace industrial::message_manager;
00042 using namespace industrial::simple_socket;
00043 using namespace adept::joint_relay_handler;
00044 
00045 int main(int argc, char** argv)
00046 {
00047   char ip[1024] = "172.21.3.79"; // Robot IP address
00048   TcpClient connection;
00049   MessageManager manager;
00050 
00051   ros::init(argc, argv, "state_interface");
00052   ros::NodeHandle n;
00053 
00054   JointRelayHandler jr_handler(n);
00055 
00056   ROS_INFO("Setting up client");
00057   connection.init(ip, StandardSocketPorts::STATE);
00058   connection.makeConnect();
00059 
00060   jr_handler.init(&connection);
00061 
00062   manager.init(&connection);
00063   manager.add(&jr_handler);
00064 
00065   manager.spin();
00066 }
00067 


adept_common
Author(s): root
autogenerated on Fri Jan 3 2014 11:05:39