robot_state.cpp

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/*
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#include "ros/ros.h"
#include "simple_message/socket/simple_socket.h"
#include "simple_message/socket/udp_client.h"
#include "simple_message/socket/tcp_client.h"
#include "adept_common/joint_relay_handler.h"
#include "simple_message/message_manager.h"

using namespace industrial::udp_client;
using namespace industrial::tcp_client;
using namespace industrial::message_manager;
using namespace industrial::simple_socket;
using namespace adept::joint_relay_handler;

int main(int argc, char** argv)
{
  char ip[1024] = "172.21.3.79"; // Robot IP address
  TcpClient connection;
  MessageManager manager;

  ros::init(argc, argv, "state_interface");
  ros::NodeHandle n;

  JointRelayHandler jr_handler(n);

  ROS_INFO("Setting up client");
  connection.init(ip, StandardSocketPorts::STATE);
  connection.makeConnect();

  jr_handler.init(&connection);

  manager.init(&connection);
  manager.add(&jr_handler);

  manager.spin();
}