urdf_visualizer_quadrotor.cc

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Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
 
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#include <ros/ros.h>
 
#include <xpp_vis/urdf_visualizer.h>
 
#include <xpp_msgs/RobotStateCartesian.h>
#include <xpp_msgs/topic_names.h>
 
using namespace xpp;
 
ros::Publisher joint_state_pub;
 
// convert cartesian to joint state message (just by extracting base)
void StateCallback(const xpp_msgs::RobotStateCartesian& msg)
{
  xpp_msgs::RobotStateJoint joint_msg;
  joint_msg.base = msg.base;
  joint_state_pub.publish(joint_msg);
}
 
 
int main(int argc, char *argv[])
{
  ::ros::init(argc, argv, "quadrotor_urdf_visualizer");
 
  ::ros::NodeHandle n;
  const std::string joint_quadrotor = "xpp/joint_quadrotor_des";
  ros::Subscriber cart_state_sub = n.subscribe(xpp_msgs::robot_state_desired, 1, StateCallback);
  joint_state_pub = n.advertise<xpp_msgs::RobotStateJoint>(joint_quadrotor, 1);
 
  // publish base state to RVIZ
  std::string urdf = "quadrotor_rviz_urdf_robot_description";
  UrdfVisualizer node_des(urdf, {}, "base", "world", joint_quadrotor, "quadrotor");
 
  ::ros::spin();
 
  return 0;
}