print_planning_model_info.cpp

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/* Author: Ioan Sucan */

#include <moveit/robot_model_loader/robot_model_loader.h>
#include <ros/ros.h>

static const std::string ROBOT_DESCRIPTION = "robot_description";

int main(int argc, char **argv)
{
    ros::init(argc, argv, "print_model_info_to_console");

    ros::AsyncSpinner spinner(1);
    spinner.start();

    robot_model_loader::RobotModelLoader rml(ROBOT_DESCRIPTION);
    ros::Duration(0.5).sleep();
    rml.getModel()->printModelInfo(std::cout);

    ros::shutdown();
    return 0;
}