test_joint_names.cpp
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00001 /*
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00004  * Copyright (c) 2013, Southwest Research Institute
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00031 
00032 #include "industrial_utils/utils.h"
00033 #include "ros/ros.h"
00034 
00035 using namespace industrial_utils;
00036 
00037 #define ROS_ERROR_EXIT(...) do {ROS_ERROR(__VA_ARGS__); exit(-1); } while (0)
00038 
00039 // Quick program to test joint-name extraction from URDF
00040 int main(int argc, char **argv)
00041 {
00042   if (argc != 2)
00043     ROS_ERROR_EXIT("Usage: test_joint_names my_robot.urdf");
00044 
00045   urdf::Model model;
00046   if (!model.initFile(argv[1]))
00047     ROS_ERROR_EXIT("Unable to open URDF file: %s", argv[1]);
00048 
00049   std::vector<std::string> joint_names;
00050   if (!findChainJointNames(model.getRoot(), true, joint_names))
00051     ROS_ERROR_EXIT("Unable to read Joint Names from URDF");
00052 
00053   printf("Joint names: ");
00054   std::ostringstream s;
00055   std::copy(joint_names.begin(), joint_names.end(), std::ostream_iterator<std::string>(s, ", "));
00056   std::string out = s.str();
00057   std::cout << "[" << out.erase(out.size()-2) << "]" << std::endl;
00058 
00059   return 1;
00060 }


industrial_utils
Author(s): Shaun M. Edwards
autogenerated on Tue Jan 17 2017 21:10:00