Go to the documentation of this file.00001 #include <aras_visual_servo_controller/aras_visual_servo_controller.h>
00002 #include <ros/ros.h>
00003 #include "csignal"
00004
00005 void signalHandler( int signum )
00006 {
00007 ROS_INFO("Interrupt signal (%d) received.\n",signum);
00008 exit(signum);
00009 }
00010
00011 int main(int argc, char *argv[])
00012 {
00013 ros::init(argc,argv,"aras_visual_servo_controller");
00014 VisualServoController *visual_servo_controller = new VisualServoController();
00015 signal(SIGINT,signalHandler);
00016
00017 float joint_positions[6];
00018 joint_positions[0]=0;
00019 joint_positions[1]=0;
00020 joint_positions[2]=0;
00021 joint_positions[3]=0;
00022 joint_positions[4]=0;
00023 joint_positions[5]=0;
00024
00025 visual_servo_controller->setTargetPositions(joint_positions);
00026
00027 joint_positions[0]=0.1;
00028 joint_positions[1]=0;
00029 joint_positions[2]=10.0*M_PI/180.0;
00030 joint_positions[3]=-5.0*M_PI/180.0;
00031 joint_positions[4]=-5.0*M_PI/180.0;
00032 joint_positions[5]=0;
00033 visual_servo_controller->setInitialPositions(joint_positions);
00034 visual_servo_controller->executeControlAlgorithm();
00035 delete visual_servo_controller;
00036 return 0;
00037 }