robot_models_node.cpp

#include <ros/ros.h>
#include "datalink/abstractobject.h"
#include "datalink/graspobject.h"
#include "datalink/hand.h"
#include "datalink/humanspace.h"
#include "datalink/joint.h"
#include "datalink/obstacle.h"
#include "datalink/robot.h"
#include "datalink/robotfpe.h"
#include "datalink/world.h"
#include "datalink/worldobject.h"
#include "datalink/quaternion.h"
#include <vector>
#include <iostream>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <cstdio>
#include <tf2/LinearMath/Quaternion.h>
#include "tf2_ros/message_filter.h"
#include "message_filters/subscriber.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
#include "geometry_msgs/PointStamped.h"
#include <tf2_ros/transform_broadcaster.h>
#include <tf2/LinearMath/Quaternion.h>

    int main(int argc, char** argv) {
        ros::init(argc, argv, "ROSNODE1");
        ros::NodeHandle node_handle("namespace_name");
        ros::AsyncSpinner spinner(1);
        spinner.start();
        ROS_INFO("HELLO, WORLD");




        abstractobject o1;
        graspobject o2;
        hand o3;
        humanspace o4;

        joint o5a;
        joint o5b;
        joint o5c;
        joint o5d;
        joint o5e;
        joint o5f;
        joint o5g;

        obstacle o6;
        robot o7;
        robotfpe o8;
        world o9;
        worldobject o10;


        o5a.name = "panda_link1";
        o5b.name = "panda_link2";
        o5c.name = "panda_link3";
        o5d.name = "panda_link4";
        o5e.name = "panda_link5";
        o5f.name = "panda_link6";
        o5g.name = "panda_link7";
        o5a.or2 = {1.2,5.3,6.5,7.4};
        o5b.or2 = {2.5,3.6,5.8,4.9};
        o5c.or2 = {5.1,1.2,9.9,6.8};
        o5d.or2 = {6.3,3.4,8.5,9.6};
        o5e.or2 = {8.2,2.6,7.9,5.5};
        o5f.or2 = {7.3,4.4,6.7,4.0};