Obbart/RoboGlue_ROS
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modifica del test per verificare i parametri

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This commit is contained in:
Emanuele
2019-10-23 16:56:27 +02:00
parent bf328ae23e
commit c799003f93
2 changed files with 16 additions and 1 deletions
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1
src/roboglue_ros/launch/test.launch
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@@ -4,4 +4,5 @@
<!-- <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}] [${function}]: ${message}" />--> <!-- <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}] [${function}]: ${message}" />-->
<rosparam command="load" file="$(find roboglue_ros)/config/jointDefaults.yaml" /> <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> </launch>

16
src/roboglue_ros/src/roboglue_test.cpp
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@@ -21,7 +21,21 @@ int main(int argc, char **argv)
spinner.start(); spinner.start();
ros::Publisher trajectory_pub = nh.advertise<trajectory_msgs::JointTrajectory>("/pos_based_pos_traj_controller/command", 1000); ros::Publisher trajectory_pub = nh.advertise<trajectory_msgs::JointTrajectory>("/pos_based_pos_traj_controller/command", 1000);
ROS_INFO("Hello world!"); 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 //motion group interface
static const std::string MOVEG = "manipulator"; static const std::string MOVEG = "manipulator";
moveit::planning_interface::MoveGroupInterface movegroup(MOVEG); moveit::planning_interface::MoveGroupInterface movegroup(MOVEG);
@@ -157,5 +171,5 @@ int main(int argc, char **argv)
smon.stopStateMonitor(); smon.stopStateMonitor();
smon.stopSceneMonitor(); smon.stopSceneMonitor();
*/
} }