modifica del test per verificare i parametri

src/roboglue_ros/launch/test.launch

@@ -4,4 +4,5 @@
     <!--    <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}] [${function}]: ${message}" />-->
 
     <rosparam command="load" file="$(find roboglue_ros)/config/jointDefaults.yaml" />
+    <node name="roboglue_ros_test" pkg="roboglue_ros" type="roboglue_ros_test" output="screen" required="true" />
 </launch>

src/roboglue_ros/src/roboglue_test.cpp

@@ -21,7 +21,21 @@ int main(int argc, char **argv)
     spinner.start();
     ros::Publisher trajectory_pub = nh.advertise<trajectory_msgs::JointTrajectory>("/pos_based_pos_traj_controller/command", 1000);
     ROS_INFO("Hello world!");
+    // Construct a map of strings
+    std::map<std::string,std::string> map_s, map_s2;
+    map_s["a"] = "foo";
+    map_s["b"] = "bar";
+    map_s["c"] = "baz";
 
+    // Set and get a map of strings
+    nh.setParam("my_string_map", map_s);
+    nh.getParam("my_string_map", map_s2);
+
+    while(ros::ok) {
+       sleep(5);
+    }
+
+    /*
     //motion group interface
     static const std::string MOVEG = "manipulator";
     moveit::planning_interface::MoveGroupInterface movegroup(MOVEG);
@@ -157,5 +171,5 @@ int main(int argc, char **argv)
 
     smon.stopStateMonitor();
     smon.stopSceneMonitor();
-
+*/
 }