motion_interface.cpp
Go to the documentation of this file.
00001 /*
00002 * Software License Agreement (BSD License) 
00003 *
00004 * Copyright (c) 2011, Yaskawa America, Inc.
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 Yaskawa America, Inc., 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
00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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
00029 * POSSIBILITY OF SUCH DAMAGE.
00030 */ 
00031 
00032 #include <dx100/joint_trajectory_handler.h>
00033 #include "simple_message/socket/simple_socket.h"
00034 #include "simple_message/socket/tcp_client.h"
00035 
00036 using namespace industrial::simple_socket;
00037 
00038 int main(int argc, char** argv)
00039 {
00040         const unsigned int IP_ARG_IDX = 1;
00041   ros::init(argc, argv, "joint_trajectory_handler");
00042         
00043         if(argc != 1)  //Only one argument, the robot IP address is accepted
00044         {
00045                 ROS_INFO("Motion interface connecting to IP address: %s", argv[IP_ARG_IDX]);
00046                 industrial::tcp_client::TcpClient robot;
00047                 ros::NodeHandle node;
00048 
00049                 robot.init(argv[IP_ARG_IDX], StandardSocketPorts::MOTION);
00050                 motoman::joint_trajectory_handler::JointTrajectoryHandler jtHandler(node, &robot);
00051 
00052                 ros::spin();
00053         }
00054         else
00055         {
00056                 ROS_ERROR("Missing command line arguments, usage: motion_interface <robot ip address>");
00057         }
00058 
00059   return 0;
00060 }


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:33