fs100_joint_streaming_node.cpp

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#include "fs100/fs100_joint_trajectory_streamer.h"
#include "industrial_utils/param_utils.h"

using motoman::fs100_joint_trajectory_streamer::FS100_JointTrajectoryStreamer;

int main(int argc, char** argv)
{
  const int FS100_motion_port = 50240;  // FS100 uses a "non-standard" port to comply with MotoPlus guidelines

  // initialize node
  ros::init(argc, argv, "motion_interface");

  // launch the FS100 JointTrajectoryStreamer connection/handlers
  FS100_JointTrajectoryStreamer motionInterface;
  motionInterface.init("", FS100_motion_port);
  motionInterface.run();

  return 0;
}