lwa_ikfast_wrapper_node.cpp

#include <ros/ros.h>

#include <pluginlib/class_loader.h>
#include <moveit/kinematics_base/kinematics_base.h>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "lwa_ikfast_wrapper_node");
  ros::NodeHandle n;

  pluginlib::ClassLoader<kinematics::KinematicsBase> ikfast_loader("moveit_core", "kinematics::KinematicsBase");

  try {
    boost::shared_ptr<kinematics::KinematicsBase>
    ikfast(ikfast_loader.createClassInstance("lwa_arm_kinematics/IKFastKinematicsPlugin"));
    ikfast->initialize("robot_description", "arm", "base_link", "tool_link", 0.005);
  } catch (pluginlib::PluginlibException& ex) {
    ROS_FATAL("Unable to load plugin: %s", ex.what());
  }

  return 0;
}