grasp_planning_service.cpp

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#ifdef DOXYGEN_SHOULD_SKIP_THIS

#endif  // DOXYGEN_SHOULD_SKIP_THIS

#include <string>
#include <stdio.h>
#include <execinfo.h>
#include <signal.h>
#include <stdlib.h>
#include <unistd.h>

#include <ros/ros.h>

#include <grasp_planning_graspit_ros/LogBindingROS.h>
#include <grasp_planning_graspit_ros/GraspItServices.h>


void print_trace(void)
{
    void *array[10];
    size_t size;
    char **strings;
    size_t i;

    size = backtrace(array, 10);
    strings = backtrace_symbols(array, size);

    printf("Obtained %zd stack frames.\n", size);

    for (i = 0; i < size; i++)
        printf("%s\n", strings[i]);

    free(strings);
}


void handler(int sig)
{
    print_trace();
    ros::shutdown();
    exit(1);
}

int main(int argc, char **argv)
{
    signal(SIGSEGV, handler);
    signal(SIGABRT, handler);

    ros::init(argc, argv, "grasp_planning_graspit_service", ros::init_options::AnonymousName);

    bool useRosLogging = true;
    if (useRosLogging)
    {
        PRINT_INIT_ROS();
    }
    else
    {
        PRINT_INIT_STD();
    }

    GraspIt::GraspItServices s;
    s.start();

    ros::spin();

    PRINTMSG("Quitting services.");
}