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src
robot_state_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) 2012, 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/industrial_robot_client/robot_state_interface.h
"
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using
industrial_robot_client::robot_state_interface::RobotStateInterface
;
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int
main
(
int
argc,
char
** argv)
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{
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const
int
FS100_state_port = 50241;
// 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,
"state_interface"
);
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// launch the default Robot State Interface connection/handlers
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RobotStateInterface
rsi;
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if
(rsi.
init
(
""
, FS100_state_port,
false
))
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{
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rsi.
run
();
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}
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return
0;
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}
industrial_robot_client::robot_state_interface::RobotStateInterface::init
bool init(std::string default_ip="", int default_port=StandardSocketPorts::STATE)
industrial_robot_client::robot_state_interface::RobotStateInterface
Generic template that reads state-data from a robot controller and publishes matching messages to var...
Definition:
robot_state_interface.h:72
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
robot_state_interface.h
main
int main(int argc, char **argv)
Definition:
robot_state_node.cpp:36
industrial_robot_client::robot_state_interface::RobotStateInterface::run
void run()
Definition:
robot_state_interface.cpp:180
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 02:27:44