print_planning_model_info.cpp

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/* Author: Ioan Sucan */

#include <moveit/robot_model_loader/robot_model_loader.h>
#include <ros/ros.h>

static const std::string ROBOT_DESCRIPTION = "robot_description";

int main(int argc, char** argv)
{
  ros::init(argc, argv, "print_model_info_to_console");

  ros::AsyncSpinner spinner(1);
  spinner.start();

  robot_model_loader::RobotModelLoader rml(ROBOT_DESCRIPTION);
  ros::Duration(0.5).sleep();
  rml.getModel()->printModelInfo(std::cout);

  ros::shutdown();
  return 0;
}