print_planning_model_info.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <rclcpp/executors/multi_threaded_executor.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/utilities.hpp>
#include <moveit/utils/logger.hpp>
 
static const std::string ROBOT_DESCRIPTION = "robot_description";
 
using namespace std::chrono_literals;
 
int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("print_model_info_to_console");
  moveit::setNodeLoggerName(node->get_name());
 
  rclcpp::executors::MultiThreadedExecutor executor;
  executor.add_node(node);
 
  robot_model_loader::RobotModelLoader rml(node, ROBOT_DESCRIPTION);
  rclcpp::sleep_for(500ms);
 
  rml.getModel()->printModelInfo(std::cout);
  executor.spin();
  rclcpp::shutdown();
  return 0;
}