robot.cpp
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34 
35 /* Author: Wim Meeussen */
36 
39 
40 
41 int main(int argc, char** argv)
42 {
43  ros::init(argc, argv, "testRobot");
44  ros::NodeHandle node;
45 
46  // create fake hardware interface with an actuator
48  hw.actuators_["head_tilt_motor"] = new pr2_hardware_interface::Actuator("head_tilt_motor");
49  hw.actuators_["head_pan_motor"] = new pr2_hardware_interface::Actuator("head_pan_motor");
51 
52  // read robot description from parameter server
53  std::string robot_description_string;
54  TiXmlDocument robot_description_xml;
55  if (node.getParam("robot_description", robot_description_string))
56  robot_description_xml.Parse(robot_description_string.c_str());
57  else
58  {
59  ROS_ERROR("Could not load the robot description from the parameter server");
60  return -1;
61  }
62  TiXmlElement *robot_description_root = robot_description_xml.FirstChildElement("robot");
63  if (!robot_description_root)
64  {
65  ROS_ERROR("Could not parse the robot description");
66  return -1;
67  }
68 
69  // Initialize controller manager from robot description
70  if (!cm.initXml(robot_description_root)){
71  ROS_ERROR("Could not initialize controller manager");
72  return -1;
73  }
74 
75  ros::AsyncSpinner spinner(4);
76  spinner.start();
77 
78  ros::Rate rate(1000.0);
79  while (ros::ok()){
80  cm.update();
81  rate.sleep();
82  }
83 
84  spinner.stop();
85 
86  return 0;
87 }
88 
89 
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
int main(int argc, char **argv)
Definition: robot.cpp:41
ROSCPP_DECL bool ok()
bool sleep()
bool getParam(const std::string &key, std::string &s) const
#define ROS_ERROR(...)


pr2_controller_manager
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Fri Jun 7 2019 22:04:28