代码注释
#include <ros/ros.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
int main(int argc, char **argv){
ros::init(argc, argv, "robot_model_and_robot_state_tutorial");
ros::AsyncSpinner spinner(1);
spinner.start();
robot_model_loader::RobotModelLoader robot_model_loader("robot_description");
robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel();
ROS_INFO("Model frame: %s", kinematic_model->getModelFrame().c_str());
robot_state::RobotStatePtr kinematic_state(new robot_state::RobotState(kinematic_model));
kinematic_state->