movement.cpp

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#include <ros/ros.h>

#include <simple_robot_control/robot_control.h>

#include "grasp_chair.h"
#include "gripper.h"



int main(int argc, char** argv)
{
        ros::init(argc, argv, "Gripper");
        Gripper* gripper = new Gripper;

        //---Create robot controller interface---
        simple_robot_control::Robot* robot = new simple_robot_control::Robot;

        GraspChair chairGrasper(robot, gripper);
        ros::NodeHandle nh;

        ros::Subscriber sub = nh.subscribe<PointCloud>("GripperPunkte", 1, &GraspChair::setGraspPositions_cb, &chairGrasper);

        ros::ServiceServer svc1 = nh.advertiseService("grasp_chair", &GraspChair::grasp, &chairGrasper);
        ros::ServiceServer svc2 = nh.advertiseService("release_chair", &GraspChair::release, &chairGrasper);

        ros::spin();
}