41 int main(
int argc,
char** argv)
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());
59 ROS_ERROR(
"Could not load the robot description from the parameter server");
62 TiXmlElement *robot_description_root = robot_description_xml.FirstChildElement(
"robot");
63 if (!robot_description_root)
65 ROS_ERROR(
"Could not parse the robot description");
70 if (!cm.
initXml(robot_description_root)){
71 ROS_ERROR(
"Could not initialize controller manager");