diff --git a/launch/dummy_selector.launch b/launch/dummy_selector.launch index 045d026f4592e15b036cc49142fd51714de71202..8d761344b2488284f6f1c9b33da89e2c083b36e7 100644 --- a/launch/dummy_selector.launch +++ b/launch/dummy_selector.launch @@ -1,3 +1,8 @@ <launch> - <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/> + <arg name="autoselect" default="true" /> + <arg name="prefix" default="selector" /> + <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"> + <param name="autoselect" type="bool" value="$(arg autoselect)" /> + <param name="prefix" type="string" value="$(arg prefix)" /> + </node> </launch> diff --git a/launch/dummy_selector_manual.launch b/launch/dummy_selector_manual.launch new file mode 100644 index 0000000000000000000000000000000000000000..5b6d080ceeb5ac10e5bf331a9797e9a1a6be0fd5 --- /dev/null +++ b/launch/dummy_selector_manual.launch @@ -0,0 +1,8 @@ +<launch> + <arg name="autoselect" default="false" /> + <arg name="prefix" default="selector" /> + <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"> + <param name="autoselect" type="bool" value="$(arg autoselect)" /> + <param name="prefix" type="string" value="$(arg prefix)" /> + </node> +</launch> diff --git a/src/dummy_selection_provider.cpp b/src/dummy_selection_provider.cpp index 3725ed31450df508465e195f1f085b3ed18c8f86..d2ec35cf556c087822873659e720610a6db1ab27 100644 --- a/src/dummy_selection_provider.cpp +++ b/src/dummy_selection_provider.cpp @@ -28,6 +28,7 @@ nng_socket sock; int rv; void sendSelection(const std::string &object) { + ROS_INFO_STREAM("Selecting random object: " << object); Selection selection; selection.set_id(object); int length = selection.ByteSize(); @@ -145,7 +146,6 @@ int main(int argc, char **argv) { pause_rate.sleep(); std::string object{objects[distribution(rng)]}; - ROS_INFO_STREAM("Selecting random object: " << object); sendSelection(object); // wait again, then send the bin object