int main(int argn, char* args[]) { ros::init(argn, args, "manipulation_server"); ros::MultiThreadedSpinner m_t_spinner(4); ROS_INFO("Starting server for manipulation."); doro_manipulation::DoroManipulation dmt; ROS_INFO("Starting server for grasp pose generation."); doro_manipulation::GraspPoseGenerator GPG_server; ROS_INFO("Starting server for put down points generation."); doro_manipulation::PutDownPointsGenerator PDPG_server; ROS_INFO("All servers are up."); m_t_spinner.spin(); }
int main(int argn, char* args[]) { ros::init(argn, args, "acquire_tabletop_server"); std::vector <std::string> peis_args; ros::removeROSArgs(argn, args, peis_args); std::vector <char*> peis_args_c_str; for(int i = 0; i < peis_args.size(); i++) { peis_args_c_str.push_back(new char[peis_args[i].size()+1]); strcpy(peis_args_c_str[i],peis_args[i].c_str()); } argn = peis_args.size(); args = peis_args_c_str.data(); for(int i = 0; i < argn; i++) { ROS_INFO("(%s)",args[i]); } peiskmt_initialize(&argn, args); acquire_tabletop::AcquireTabletopServer ATS; ros::MultiThreadedSpinner m_t_spinner(4); m_t_spinner.spin(); }