4 #include <gb_grasp/GraspPipelineDemo.h>
8 int main(
int argc,
char *argv[]) {
10 ros::init(argc, argv,
"config_routine");
11 std::shared_ptr<ros::NodeHandle> n(
new ros::NodeHandle);
14 ros::AsyncSpinner spinner(2);
17 std::shared_ptr<GraspMediator> mediator = std::make_shared<GraspMediator>(n);
19 auto rd = mediator->robotReader()->robotData();
20 for (
int i = 0; i < rd.size() ;i++){
21 std::unique_ptr<AbstractRobot> ceti = std::make_unique<CetiRobot>(rd[i].name_, rd[i].pose_, rd[i].size_);
22 std::unique_ptr<PandaDecorator> ceti_panda = std::make_unique<PandaDecorator>(std::move(ceti));
23 mediator->connectRobots(std::move(ceti_panda));