cell_routine.cpp
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1 #include <xmlrpcpp/XmlRpc.h>
2 
6 
8 #include "reader/robot_reader.h"
9 #include "reader/wing_reader.h"
10 #include "reader/cuboid_reader.h"
11 
12 #include <moveit_grasps/two_finger_grasp_generator.h>
13 #include <moveit_grasps/two_finger_grasp_data.h>
14 #include <moveit_grasps/two_finger_grasp_filter.h>
15 #include <moveit_grasps/grasp_planner.h>
16 
17 
18 
19 int main(int argc, char **argv){
20  ros::init(argc, argv, "cell_routine");
21  std::shared_ptr<ros::NodeHandle> n(new ros::NodeHandle);
22 
23  ros::AsyncSpinner spinner(1);
24  spinner.start();
25 
26  std::shared_ptr<MoveitMediator> mediator = std::make_shared<MoveitMediator>(n);
27 
28  auto rd = mediator->robotReader()->robotData();
29  for (int i = 0; i < rd.size() ;i++){
30  std::unique_ptr<AbstractRobot> ceti = std::make_unique<CetiRobot>(rd[i].name_, rd[i].pose_, rd[i].size_);
31  std::unique_ptr<PandaDecorator> ceti_panda = std::make_unique<PandaDecorator>(std::move(ceti));
32  mediator->connectRobots(std::move(ceti_panda));
33  }
34 
35  //mediator->set_dirname(filename);
36  mediator->mediate();
37 
38  while (ros::ok()){
39  ros::spinOnce();
40  }
41 
42  /*
43  for (int i = 0; i < rd.size() ;i++){
44  std::unique_ptr<Abstract_robot> ceti = std::make_unique<Ceti_robot>(rd[i].name_, rd[i].pose_, rd[i].size_);
45  std::unique_ptr<Panda_decorator> ceti_panda = std::make_unique<Panda_decorator>(std::move(ceti));
46  mediator->connect_robots(std::move(ceti_panda));
47  }
48 
49  mediator->set_result_vector(simple_base->result());
50  //mediator->set_dirname(filename);
51 
52  mediator->set_panel();
53 
54  mediator->mediate();
55  */
56 }
cuboid_reader.h
main
int main(int argc, char **argv)
Definition: cell_routine.cpp:19
abstract_mediator.h
abstract_param_reader.h
wing_reader.h
robot_reader.h
moveit_mediator.h
panda_decorator.h


multi_cell_builder
Author(s): Matteo Anedda
autogenerated on Sun Apr 9 2023 23:59:51