robot.cpp

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/* Author: Wim Meeussen */

#include <pr2_controller_manager/controller_manager.h>
#include <pr2_hardware_interface/hardware_interface.h>


int main(int argc, char** argv)
{
  ros::init(argc, argv, "testRobot");
  ros::NodeHandle node;

  // create fake hardware interface with an actuator
  pr2_hardware_interface::HardwareInterface hw;
  hw.actuators_["head_tilt_motor"] = new pr2_hardware_interface::Actuator("head_tilt_motor");
  hw.actuators_["head_pan_motor"] = new pr2_hardware_interface::Actuator("head_pan_motor");
  pr2_controller_manager::ControllerManager cm(&hw, node);

  // read robot description from parameter server
  std::string robot_description_string;
  TiXmlDocument robot_description_xml;
  if (node.getParam("robot_description", robot_description_string))
    robot_description_xml.Parse(robot_description_string.c_str());
  else
  {
    ROS_ERROR("Could not load the robot description from the parameter server");
    return -1;
  }
  TiXmlElement *robot_description_root = robot_description_xml.FirstChildElement("robot");
  if (!robot_description_root)
  {
    ROS_ERROR("Could not parse the robot description");
    return -1;
  }
  
  // Initialize controller manager from robot description
  if (!cm.initXml(robot_description_root)){
    ROS_ERROR("Could not initialize controller manager");
    return -1;
  }

  ros::AsyncSpinner spinner(4);
  spinner.start();

  ros::Rate rate(1000.0);
  while (ros::ok()){
    cm.update();
    rate.sleep();
  }

  spinner.stop();

  return 0;
}