test_app.cpp
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34 
35 /* Author: Ioan Sucan */
36 
40 
41 int main(int argc, char** argv)
42 {
43  ros::init(argc, argv, "test_trajectory_execution_manager");
44 
46  spinner.start();
47 
48  robot_model_loader::RobotModelLoaderPtr rml(new robot_model_loader::RobotModelLoader);
51 
52  std::cout << "1:\n";
53  if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "basej")))
54  ROS_ERROR("Fail!");
55 
56  std::cout << "2:\n";
57  if (!tem.ensureActiveController("arms"))
58  ROS_ERROR("Fail!");
59 
60  std::cout << "3:\n";
61  if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "rj2")))
62  ROS_ERROR("Fail!");
63 
64  std::cout << "4:\n";
65  if (!tem.ensureActiveControllersForJoints(std::vector<std::string>(1, "lj1")))
66  ROS_ERROR("Fail!");
67 
68  std::cout << "5:\n";
69  if (!tem.ensureActiveController("left_arm_head"))
70  ROS_ERROR("Fail!");
71  std::cout << "6:\n";
72  if (!tem.ensureActiveController("arms"))
73  ROS_ERROR("Fail!");
74 
75  // execute with empty set of trajectories
76  tem.execute();
77  if (!tem.waitForExecution())
78  ROS_ERROR("Fail!");
79 
80  moveit_msgs::RobotTrajectory traj1;
81  traj1.joint_trajectory.joint_names.push_back("rj1");
82  traj1.joint_trajectory.points.resize(1);
83  traj1.joint_trajectory.points[0].positions.push_back(0.0);
84  if (!tem.push(traj1))
85  ROS_ERROR("Fail!");
86 
87  moveit_msgs::RobotTrajectory traj2 = traj1;
88  traj2.joint_trajectory.joint_names.push_back("lj2");
89  traj2.joint_trajectory.points[0].positions.push_back(1.0);
90  traj2.multi_dof_joint_trajectory.joint_names.push_back("basej");
91  traj2.multi_dof_joint_trajectory.points.resize(1);
92  traj2.multi_dof_joint_trajectory.points[0].transforms.resize(1);
93 
94  if (!tem.push(traj2))
95  ROS_ERROR("Fail!");
96 
97  traj1.multi_dof_joint_trajectory = traj2.multi_dof_joint_trajectory;
98  if (!tem.push(traj1))
99  ROS_ERROR("Fail!");
100 
101  if (!tem.executeAndWait())
102  ROS_ERROR("Fail!");
103 
105 
106  return 0;
107 }
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void spinner()
const CurrentStateMonitorPtr & getStateMonitor() const
Get the stored instance of the stored current state monitor.
PlanningSceneMonitor Subscribes to the topic planning_scene.
int main(int argc, char **argv)
Definition: test_app.cpp:41
#define ROS_ERROR(...)
ROSCPP_DECL void waitForShutdown()


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Jan 15 2018 03:51:18