From 0b3523b8d6db8591ac8e20616593da403e1bace0 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Fri, 17 Dec 2021 10:17:58 +0100
Subject: [PATCH] improve logging for dummy selector and adapt its launch files
---
launch/dummy_selector.launch | 7 ++++++-
launch/dummy_selector_manual.launch | 8 ++++++++
src/dummy_selection_provider.cpp | 2 +-
3 files changed, 15 insertions(+), 2 deletions(-)
create mode 100644 launch/dummy_selector_manual.launch
diff --git a/launch/dummy_selector.launch b/launch/dummy_selector.launch
index 045d026..8d76134 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 0000000..5b6d080
--- /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 3725ed3..d2ec35c 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
--
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