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src
joint_streaming_node.cpp
Go to the documentation of this file.
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2013, Southwest Research Institute
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Southwest Research Institute, nor the names
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* of its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "
motoman_driver/joint_trajectory_streamer.h
"
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#include "
industrial_utils/param_utils.h
"
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using
motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer
;
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int
main
(
int
argc,
char
** argv)
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{
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const
int
FS100_motion_port = 50240;
// FS100 uses a "non-standard" port to comply with MotoPlus guidelines
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// initialize node
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ros::init
(argc, argv,
"motion_interface"
);
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// launch the FS100 JointTrajectoryStreamer connection/handlers
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MotomanJointTrajectoryStreamer
motionInterface;
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motionInterface.
init
(
""
, FS100_motion_port,
false
);
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motionInterface.
run
();
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return
0;
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}
industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface::run
virtual void run()
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer
Message handler that streams joint trajectories to the robot controller. Contains FS100-specific moti...
Definition:
joint_trajectory_streamer.h:65
joint_trajectory_streamer.h
param_utils.h
motoman::joint_trajectory_streamer::MotomanJointTrajectoryStreamer::init
virtual bool init(SmplMsgConnection *connection, const std::vector< std::string > &joint_names, const std::map< std::string, double > &velocity_limits=std::map< std::string, double >())
Class initializer.
Definition:
joint_trajectory_streamer.cpp:98
main
int main(int argc, char **argv)
Definition:
joint_streaming_node.cpp:37
motoman_driver
Author(s): Jeremy Zoss (Southwest Research Institute), Ted Miller (MotoROS) (Yaskawa Motoman), Eric Marcil (MotoROS) (Yaskawa Motoman)
autogenerated on Sat May 8 2021 02:27:43