int main(int argc, char** argv)
{
const unsigned int IP_ARG_IDX = 1;
TcpClient connection;
ros::init(argc, argv, "state_interface");
if (argc != 1) //Only one argument, the robot IP address is accepted
{
ROS_INFO("Robot state connecting to IP address: %s", argv[IP_ARG_IDX]);
connection.init(argv[IP_ARG_IDX], StandardSocketPorts::STATE);
std::vector<std::string> joint_names;
joint_names.push_back("joint_s");
joint_names.push_back("joint_l");
joint_names.push_back("joint_e");
joint_names.push_back("joint_u");
joint_names.push_back("joint_r");
joint_names.push_back("joint_b");
joint_names.push_back("joint_t");
RobotStateInterface rsi;
if (rsi.init(&connection, joint_names))
{
rsi.run();
}
}
else
{
ROS_ERROR("Missing command line arguments, usage: robot_state <robot ip address>");
}
return 0;
}
int main(int argc, char** argv)
{
const int FS100_state_port = 50241; // FS100 uses a "non-standard" port to comply with MotoPlus guidelines
// initialize node
ros::init(argc, argv, "state_interface");
// launch the default Robot State Interface connection/handlers
RobotStateInterface rsi;
if (rsi.init("", FS100_state_port, false))
{
rsi.run();
}
return 0;
}
