motion_interface.cpp

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/*
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* Copyright (c) 2011, Yaskawa America, Inc.
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#include "adept_common/joint_trajectory_handler.h"
#include "simple_message/socket/simple_socket.h"
#include "simple_message/socket/tcp_client.h"

using namespace industrial::simple_socket;

int main(int argc, char** argv)
{
  ros::init(argc, argv, "joint_trajectory_handler");
  industrial::tcp_client::TcpClient robot;
  ros::NodeHandle node;

  robot.init("172.21.3.79", StandardSocketPorts::MOTION);
  adept::joint_trajectory_handler::JointTrajectoryHandler jtHandler(node, &robot);

  ros::spin();

  return 0;
}