public static void main(String[] argv) throws Exception {
if (argv.length == 0) {
printUsage();
System.exit(1);
}
ArrayList<String> l1 = new ArrayList<String>();
for (int i = 0; i < argv.length; i++) l1.add(argv[i]);
CommandLineLoader loader = new CommandLineLoader(l1);
String nodeClassName = loader.getNodeClassName();
System.out.println("Loading node class: " + loader.getNodeClassName());
NodeConfiguration nodeConfiguration = loader.build();
NodeMain nodeMain = null;
try {
nodeMain = loader.loadClass(nodeClassName);
} catch (ClassNotFoundException e) {
throw new RosRuntimeException("Unable to locate node: " + nodeClassName, e);
} catch (InstantiationException e) {
throw new RosRuntimeException("Unable to instantiate node: " + nodeClassName, e);
} catch (IllegalAccessException e) {
throw new RosRuntimeException("Unable to instantiate node: " + nodeClassName, e);
}
assert (nodeMain != null);
NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
nodeMainExecutor.execute(nodeMain, nodeConfiguration);
}
public RosConnectedZeroPoseRobotConfigurationDataProducer(
URI rosMasterURI, PacketCommunicator objectCommunicator, final DRCRobotModel robotModel) {
this.robotModel = robotModel;
this.packetCommunicator = objectCommunicator;
fullRobotModel = robotModel.createFullRobotModel();
referenceFrames = new HumanoidReferenceFrames(fullRobotModel);
pelvisFrame = referenceFrames.getPelvisFrame();
headFrame = referenceFrames.getNeckFrame(NeckJointName.PROXIMAL_NECK_PITCH);
forceSensorDefinitions = fullRobotModel.getForceSensorDefinitions();
updateRobotLocationBasedOnMultisensePose(new RigidBodyTransform());
if (rosMasterURI != null) {
NodeConfiguration nodeConfiguration = RosTools.createNodeConfiguration(rosMasterURI);
NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
nodeMainExecutor.execute(this, nodeConfiguration);
}
}
