moveit_sim_hw_main.cpp
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34 
35 /* Author: Dave Coleman
36  Desc: MoveIt! robot simulator using ros_control
37 */
38 
41 
42 int main(int argc, char** argv)
43 {
44  ros::init(argc, argv, "moveit_sim_hw_main");
45  ros::NodeHandle nh;
46 
47  // NOTE: We run the ROS loop in a separate thread as external calls such
48  // as service callbacks to load controllers can block the (main) control loop
50  spinner.start();
51 
52  // Create the hardware interface specific to your robot
55  moveit_sim_hw_iface->init();
56 
57  // Start the control loop
58  ros_control_boilerplate::GenericHWControlLoop control_loop(nh, moveit_sim_hw_iface);
59 
60  // Wait until shutdown signal recieved
62 
63  return 0;
64 }
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void spinner()
int main(int argc, char **argv)
ROSCPP_DECL void waitForShutdown()


moveit_sim_controller
Author(s): Dave Coleman
autogenerated on Thu Jun 6 2019 19:38:57