motion_interface.cpp

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#include <dx100/joint_trajectory_handler.h>
#include "simple_message/socket/simple_socket.h"
#include "simple_message/socket/tcp_client.h"

using namespace industrial::simple_socket;

int main(int argc, char** argv)
{
        const unsigned int IP_ARG_IDX = 1;
  ros::init(argc, argv, "joint_trajectory_handler");
        
        if(argc != 1)  //Only one argument, the robot IP address is accepted
        {
                ROS_INFO("Motion interface connecting to IP address: %s", argv[IP_ARG_IDX]);
                industrial::tcp_client::TcpClient robot;
                ros::NodeHandle node;

                robot.init(argv[IP_ARG_IDX], StandardSocketPorts::MOTION);
                motoman::joint_trajectory_handler::JointTrajectoryHandler jtHandler(node, &robot);

                ros::spin();
        }
        else
        {
                ROS_ERROR("Missing command line arguments, usage: motion_interface <robot ip address>");
        }

  return 0;
}