get_solver_info.cpp
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00001 #include <ros/ros.h>
00002 #include <kinematics_msgs/GetKinematicSolverInfo.h>
00003 int main(int argc, char **argv){
00004   ros::init (argc, argv, "get_ik_solver_info");
00005   ros::NodeHandle rh;
00006   ros::service::waitForService("pr2_right_arm_kinematics/get_ik_solver_info");
00007   ros::ServiceClient query_client = rh.serviceClient<kinematics_msgs::GetKinematicSolverInfo>("pr2_right_arm_kinematics/get_ik_solver_info");
00008 
00009   // define the service messages
00010   kinematics_msgs::GetKinematicSolverInfo::Request request;
00011   kinematics_msgs::GetKinematicSolverInfo::Response response;
00012 
00013   if(query_client.call(request,response))
00014   {
00015     for(unsigned int i=0; i< response.kinematic_solver_info.joint_names.size(); i++)
00016     {
00017       ROS_INFO("Joint: %d %s",i,response.kinematic_solver_info.joint_names[i].c_str());
00018     }
00019   }
00020   else
00021   {
00022     ROS_ERROR("Could not call query service");
00023   }
00024   ros::shutdown();
00025 }


pr2_arm_navigation_tutorials
Author(s): Sachin Chitta
autogenerated on Tue Apr 22 2014 19:29:47