¶int runRobotStateViewer(
    const std::string& config_path,
    const std::string& name,
    double display_rate_hz,
    const std::atomic<bool>& interrupt)

Description

Entry point of `uri viewer`: loads the driver plugin named in the config's robot_interface section directly (no manager, no communication stack) and prints its live joint state at display_rate_hz until interrupt is set. config_path is either a robot interface config or the manager's mc_rtc.yaml; for the latter, name selects the robot under 'Robots' (optional when there is only one). Returns the process exit code.

Declared at: robot_interface/include/robot_interface/RobotStateViewer.h:15

Parameters

const std::string& config_path

const std::string& name

double display_rate_hz

const std::atomic<bool>& interrupt