From c799003f9342f57c626e4b35c0a5611837580303 Mon Sep 17 00:00:00 2001
From: Emanuele <ema.trabattoni@gmail.com>
Date: Wed, 23 Oct 2019 16:56:27 +0200
Subject: [PATCH] modifica del test per verificare i parametri

---
 src/roboglue_ros/launch/test.launch    |  1 +
 src/roboglue_ros/src/roboglue_test.cpp | 16 +++++++++++++++-
 2 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/src/roboglue_ros/launch/test.launch b/src/roboglue_ros/launch/test.launch
index afca57d..b0affb0 100644
--- a/src/roboglue_ros/launch/test.launch
+++ b/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>
diff --git a/src/roboglue_ros/src/roboglue_test.cpp b/src/roboglue_ros/src/roboglue_test.cpp
index 3b6f48a..0ad89ce 100644
--- a/src/roboglue_ros/src/roboglue_test.cpp
+++ b/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();
-
+*/
 }