urdf_visualizer_hyq1.cc

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#include <ros/ros.h>

#include <xpp_hyq/inverse_kinematics_hyq1.h>
#include <xpp_msgs/topic_names.h>

#include <xpp_vis/urdf_visualizer.h>
#include <xpp_vis/cartesian_joint_converter.h>

using namespace xpp;

int main(int argc, char *argv[])
{
  ::ros::init(argc, argv, "monoped_urdf_visualizer");

  const std::string joint_desired_mono = "xpp/joint_mono_des";

  auto ik = std::make_shared<InverseKinematicsHyq1>();
  CartesianJointConverter inv_kin_converter(ik,
                                            xpp_msgs::robot_state_desired,
                                            joint_desired_mono);

  std::vector<UrdfVisualizer::URDFName> joint_names(HyqlegJointCount);
  joint_names.at(HAA) = "haa_joint";
  joint_names.at(HFE) = "hfe_joint";
  joint_names.at(KFE) = "kfe_joint";

  std::string urdf = "monoped_rviz_urdf_robot_description";
  UrdfVisualizer node_des(urdf, joint_names, "base", "world",
                          joint_desired_mono, "monoped");

  ::ros::spin();

  return 1;
}