state_publisher.cpp

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/* Author: Wim Meeussen */

#include <kdl/tree.hpp>
#include <ros/ros.h>
#include <kdl_parser/kdl_parser.hpp>
#include <urdf/model.h>
#include "robot_state_chain_publisher/joint_state_listener.h"

using namespace std;
using namespace ros;
using namespace KDL;
using namespace robot_state_chain_publisher;



// ----------------------------------
// ----- MAIN -----------------------
// ----------------------------------
int main(int argc, char** argv)
{
  // Initialize ros
  ros::init(argc, argv, "robot_state_chain_publisher");
  NodeHandle node;

  // gets the location of the robot description on the parameter server
  string full_param_name;
  node.searchParam("robot_description",full_param_name);
  string robot_desc;

  // constructs a kdl tree from the robot model
  node.param(full_param_name, robot_desc, string());
  Tree tree;
  if (!kdl_parser::treeFromString(robot_desc, tree)){
    ROS_ERROR("Failed to extract kdl tree from xml robot description");
    return -1;
  }

  JointStateListener state_publisher(tree);

  ros::spin();
  return 0;
}