test_joint_names.cpp

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#include "industrial_utils/utils.h"
#include "ros/ros.h"
 
using namespace industrial_utils;
 
#define ROS_ERROR_EXIT(...) do {ROS_ERROR(__VA_ARGS__); exit(-1); } while (0)
 
// Quick program to test joint-name extraction from URDF
int main(int argc, char **argv)
{
  if (argc != 2)
    ROS_ERROR_EXIT("Usage: test_joint_names my_robot.urdf");
 
  urdf::Model model;
  if (!model.initFile(argv[1]))
    ROS_ERROR_EXIT("Unable to open URDF file: %s", argv[1]);
 
  std::vector<std::string> joint_names;
  if (!findChainJointNames(model.getRoot(), true, joint_names))
    ROS_ERROR_EXIT("Unable to read Joint Names from URDF");
 
  printf("Joint names: ");
  std::ostringstream s;
  std::copy(joint_names.begin(), joint_names.end(), std::ostream_iterator<std::string>(s, ", "));
  std::string out = s.str();
  std::cout << "[" << out.erase(out.size()-2) << "]" << std::endl;
 
  return 1;
}