overhead_grasp_service_node.cpp

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/*
 * overhead_grasp_service_server.cpp
 *
 *  Created on: Oct 17, 2012
 */

#include <object_manipulation_tools/services/GraspPlannerServer.h>
#include <object_manipulation_tools/grasp_planners/OverheadGraspPlanner.h>

int main(int argc, char** argv)
{
        ros::init(argc,argv,"grasp_planner_server");
        ros::NodeHandle nh;

        boost::shared_ptr<GraspPlannerInterface> planner(new OverheadGraspPlanner());
        GraspPlannerServer graspPlannerServer = GraspPlannerServer(planner);
        graspPlannerServer.init();

        return 0;
}