diff --git a/src/robot_models_node.cpp b/src/robot_models_node.cpp index 6f25504f41acde606964e123ff8316ab895cf456..01d43ef9f01a2b7b6cc6a217d1a72c16401baefb 100644 --- a/src/robot_models_node.cpp +++ b/src/robot_models_node.cpp @@ -9,16 +9,17 @@ #include <datalink/robotfpe.h> #include <datalink/world.h> #include <datalink/worldobject.h> - +#include <vector> +#include <iostream> int main(int argc, char** argv) -{ - ros::init(argc, argv, "NAME"); +{ int x=0,y=0,z=0; + ros::init(argc, argv, "ROS NODE 1"); ros::NodeHandle node_handle("namespace_name"); ros::AsyncSpinner spinner(1); spinner.start(); + ROS_INFO("HELLO, WORLD"); - abstractobject o1; graspobject o2; hand o3; @@ -30,30 +31,17 @@ int main(int argc, char** argv) world o9; worldobject o10; - o10.coordinate_pos=41.45; - o10.coordinate_hand=44.39; - o10.coordinate_orientn=22.29; - o5.coordinate_pos =21.35; - o5.coordinate_hand =14.29; - o5.coordinate_orientn =18.19; - o7.robotname=fpe; - o8.on-off=1; - o8.moving=0; - o8.grasppos=1; - o3.gripperposition=22.25; - o4.humannum=2; - o1.name="niku"; - o1.dimension=[2,3,4,5]; - o2.coordinate_pos=25.22; - o2.coordinate_hand=22.24; - o2.coordinate_orientn=34.23; - o2.name=paperweight; - o2.dimension=[9,7,8]; - o6.coordinate_pos=21.22; - o6.coordinate_hand=18.24; - o6.coordinate_orientn=31.23; - o6.name=box; - o6.dimension=[6,7,4]; - - + + o10.p1.push_back(12,11,9,18); + o5.j1.push_back(22); + o5.j1.push_back(12); + o5.j1.push_back(10); + o7.robname.push_back("Robot FPE"); + o8.on-off.push_back(1); + o8.moving.push_back(0); + o8.grasppos.push_back(1); + o8.planninggrp.push_back("String"); + o3.grippos.push_back(12,14,18); + o4.humannum.push_back(1); + }