robot_state.cpp

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/*
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 * Copyright (c) 2011, Southwest Research Institute
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#include "ros/ros.h"
#include "industrial_robot_client/robot_state_interface.h"
#include "simple_message/simple_message.h"
#include "simple_message/socket/tcp_client.h"

using industrial_robot_client::robot_state_interface::RobotStateInterface;
using namespace industrial::simple_message;
using namespace industrial::tcp_client;
using namespace industrial::simple_socket;

int main(int argc, char** argv)
{

  const unsigned int IP_ARG_IDX = 1;
  TcpClient connection;
  ros::init(argc, argv, "state_interface");

  if (argc != 1) //Only one argument, the robot IP address is accepted
  {
    ROS_INFO("Robot state connecting to IP address: %s", argv[IP_ARG_IDX]);
    connection.init(argv[IP_ARG_IDX], StandardSocketPorts::STATE);

    std::vector<std::string> joint_names;
    joint_names.push_back("joint_s");
    joint_names.push_back("joint_l");
    joint_names.push_back("joint_e");
    joint_names.push_back("joint_u");
    joint_names.push_back("joint_r");
    joint_names.push_back("joint_b");
    joint_names.push_back("joint_t");

    RobotStateInterface rsi;
    if (rsi.init(&connection, joint_names))
    {
      rsi.run();
    }

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

  return 0;
}