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src
io_relay_node.cpp
Go to the documentation of this file.
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2020, Southwest Research Institute
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Southwest Research Institute, nor the names
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* of its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "
motoman_driver/io_relay.h
"
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using
motoman::io_relay::MotomanIORelay
;
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int
main
(
int
argc,
char
** argv)
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{
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const
int
default_io_port = 50242;
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// initialize node
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ros::init
(argc, argv,
"io_relay"
);
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MotomanIORelay
io_relay;
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io_relay.
init
(default_io_port);
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ros::spin
();
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return
0;
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}
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
motoman::io_relay::MotomanIORelay::init
bool init(int default_port)
Class initializer.
Definition:
io_relay.cpp:47
main
int main(int argc, char **argv)
Definition:
io_relay_node.cpp:36
ros::spin
ROSCPP_DECL void spin(Spinner &spinner)
motoman::io_relay::MotomanIORelay
Message handler that sends I/O service requests to the robot controller and receives the responses...
Definition:
io_relay.h:51
io_relay.h
motoman_driver
Author(s): Jeremy Zoss (Southwest Research Institute), Ted Miller (MotoROS) (Yaskawa Motoman), Eric Marcil (MotoROS) (Yaskawa Motoman)
autogenerated on Sat May 8 2021 02:27:43