Revision 6168b08c examples/meka/src/main.cpp

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examples/meka/src/main.cpp
22 22 

  		




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*/


  		




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    if (argc != 4){


  		




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        printf("> ERROR: invalid number of parameters passed to server!\n\nusage: %s <humotion base topic> <jointstates topic> <control topic> (example: %s /meka /joint_states /meka_roscontrol/head_position_trajectory_controller/command)\n\n",argv[0],argv[0]);


  		




  
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    if (argc != 5){


  		




  
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        printf("> ERROR: invalid number of parameters passed to server!\n\n");


  		




  
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        printf("usage   : %s <humotion base topic> <jointstates topic> <controlstates topic> <control output topic>\n\n",argv[0]);


  		




  
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        printf("example : %s /meka /joint_states  /meka_roscontrol_state_manager/state /meka_roscontrol/head_position_trajectory_controller/command)\n\n",argv[0]);


  		




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        exit(EXIT_FAILURE);


  		




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    }


  		




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    //create humotion interface


  		




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    string humotion_scope    = argv[1];


  		




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    string jointstates_scope = argv[2];


  		




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    string control_scope     = argv[3];


  		




  
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    string humotion_scope      = argv[1];


  		




  
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    string jointstates_scope   = argv[2];


  		




  
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    string controlstates_scope = argv[3];


  		




  
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    string control_scope       = argv[4];


  		




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    MekaJointInterface *jointinterface = new MekaJointInterface(jointstates_scope, control_scope);


  		




  
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    MekaJointInterface *jointinterface = new MekaJointInterface(jointstates_scope, controlstates_scope, control_scope);


  		




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    humotion::server::Server *humotion_server = new humotion::server::Server(humotion_scope, "ROS", jointinterface);


  		




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    //finally run it


  		












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