test_joint_names.cpp
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31 
32 #include "industrial_utils/utils.h"
33 #include "ros/ros.h"
34 
35 using namespace industrial_utils;
36 
37 #define ROS_ERROR_EXIT(...) do {ROS_ERROR(__VA_ARGS__); exit(-1); } while (0)
38 
39 // Quick program to test joint-name extraction from URDF
40 int main(int argc, char **argv)
41 {
42  if (argc != 2)
43  ROS_ERROR_EXIT("Usage: test_joint_names my_robot.urdf");
44 
45  urdf::Model model;
46  if (!model.initFile(argv[1]))
47  ROS_ERROR_EXIT("Unable to open URDF file: %s", argv[1]);
48 
49  std::vector<std::string> joint_names;
50  if (!findChainJointNames(model.getRoot(), true, joint_names))
51  ROS_ERROR_EXIT("Unable to read Joint Names from URDF");
52 
53  printf("Joint names: ");
54  std::ostringstream s;
55  std::copy(joint_names.begin(), joint_names.end(), std::ostream_iterator<std::string>(s, ", "));
56  std::string out = s.str();
57  std::cout << "[" << out.erase(out.size()-2) << "]" << std::endl;
58 
59  return 1;
60 }
bool findChainJointNames(const urdf::LinkConstSharedPtr &link, bool ignore_fixed, std::vector< std::string > &joint_names)
Definition: utils.cpp:72
URDF_EXPORT bool initFile(const std::string &filename)
XmlRpcServer s
#define ROS_ERROR_EXIT(...)
int main(int argc, char **argv)


industrial_utils
Author(s): Shaun Edwards
autogenerated on Sat Sep 21 2019 03:30:08