Drake
kuka_plan_runner.cc File Reference

kuka_plan_runner is designed to wait for LCM messages contraining a robot_plan_t message, and then execute the plan on an iiwa arm (also communicating via LCM using the lcmt_iiwa_command/lcmt_iiwa_status messages). More...

#include <iostream>
#include <memory>
#include <lcm/lcm-cpp.hpp>
#include "robotlocomotion/robot_plan_t.hpp"
#include "drake/common/drake_assert.h"
#include "drake/common/find_resource.h"
#include "drake/common/trajectories/piecewise_polynomial.h"
#include "drake/common/trajectories/piecewise_polynomial_trajectory.h"
#include "drake/examples/kuka_iiwa_arm/iiwa_common.h"
#include "drake/lcmt_iiwa_command.hpp"
#include "drake/lcmt_iiwa_status.hpp"
#include "drake/multibody/joints/floating_base_types.h"
#include "drake/multibody/parsers/urdf_parser.h"
#include "drake/multibody/rigid_body_tree.h"
Include dependency graph for kuka_plan_runner.cc:

Namespaces

 drake
 
 drake::examples
 
 drake::examples::kuka_iiwa_arm
 

Functions

int main ()
 

Detailed Description

kuka_plan_runner is designed to wait for LCM messages contraining a robot_plan_t message, and then execute the plan on an iiwa arm (also communicating via LCM using the lcmt_iiwa_command/lcmt_iiwa_status messages).

When a plan is received, it will immediately begin executing that plan on the arm (replacing any plan in progress).

Function Documentation

int main ( )