robot_state_publisher_node.cpp

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#include <map>
#include <string>
#include <utility>

#include <ros/ros.h>
#include <urdf/model.h>
#include <kdl/tree.hpp>
#include <kdl_parser/kdl_parser.hpp>

#include "robot_state_publisher/robot_state_publisher.h"
#include "robot_state_publisher/joint_state_listener.h"

// ----------------------------------
// ----- MAIN -----------------------
// ----------------------------------
int main(int argc, char** argv)
{
  // Initialize ros
  ros::init(argc, argv, "robot_state_publisher");
  ros::NodeHandle node;

  // gets the location of the robot description on the parameter server
  urdf::Model model;
  if (!model.initParam("robot_description"))
    return 1;

  KDL::Tree tree;
  if (!kdl_parser::treeFromUrdfModel(model, tree)) {
    ROS_ERROR("Failed to extract kdl tree from xml robot description");
    return 1;
  }

  robot_state_publisher::MimicMap mimic;

  for (std::map< std::string, urdf::JointSharedPtr >::iterator i = model.joints_.begin(); i != model.joints_.end(); i++) {
    if (i->second->mimic) {
      mimic.insert(std::make_pair(i->first, i->second->mimic));
    }
  }

  robot_state_publisher::JointStateListener state_publisher(tree, mimic, model);
  ros::spin();

  return 0;
}