joint_streaming_node.cpp
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00001 /*
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00031 
00032 #include "motoman_driver/joint_trajectory_streamer.h"
00033 #include "industrial_utils/param_utils.h"
00034 
00035 using motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer;
00036 
00037 int main(int argc, char** argv)
00038 {
00039   const int FS100_motion_port = 50240;  // FS100 uses a "non-standard" port to comply with MotoPlus guidelines
00040 
00041   // initialize node
00042   ros::init(argc, argv, "motion_interface");
00043 
00044   // launch the FS100 JointTrajectoryStreamer connection/handlers
00045   MotomanJointTrajectoryStreamer motionInterface;
00046 
00047   motionInterface.init("", FS100_motion_port, false);
00048   motionInterface.run();
00049 
00050   return 0;
00051 }


motoman_driver
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Sat Jun 8 2019 19:06:57