visual_tools_test.cpp

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/* Author: Dave Coleman
   Desc:   Demo implementation of moveit_visual_tools
           To use, add a Rviz Marker Display subscribed to topic /moveit_visual_tools
*/

// ROS
#include <ros/ros.h>

// For visualizing things in rviz
#include <moveit_visual_tools/visual_tools.h>

namespace moveit_visual_tools
{

// Baxter specific
static const std::string EE_PARENT_LINK = "right_wrist";
static const std::string PLANNING_GROUP_NAME = "right_arm_torso_grasping";
static const std::string EE_GROUP = "right_hand";

class VisualToolsTest
{
private:

  // A shared node handle
  ros::NodeHandle nh_;

  // For visualizing things in rviz
  moveit_visual_tools::VisualToolsPtr visual_tools_;

public:

  VisualToolsTest()
  {
    visual_tools_.reset(new moveit_visual_tools::VisualTools("base","/moveit_visual_tools"));

    runTest();

    // Allow time to publish messages
    ros::Duration(1.0).sleep();
  }

  ~VisualToolsTest()
  {
  }

  void runTest()
  {
    visual_tools_->publishTest();
  }

}; // end class

} // end namespace

int main(int argc, char** argv)
{
  ros::init(argc, argv, "visual_tools_test");
  ROS_INFO_STREAM("Visual Tools Test");

  // Allow the action server to recieve and send ros messages
  ros::AsyncSpinner spinner(1);
  spinner.start();

  moveit_visual_tools::VisualToolsTest tester;

  ROS_INFO_STREAM("Shutting down.");

  return 0;
}