From 2df9e2ef0c39c90dec1064ded79339b0663888b1 Mon Sep 17 00:00:00 2001 From: SebastianEbert <sebastian.ebert@tu-dresden.de> Date: Mon, 23 May 2022 10:47:09 +0200 Subject: [PATCH] added fake launch files --- launch/fake-cell_ceti-table-1.launch | 16 ++++++++++++++++ launch/fake-cell_ceti-table-2.launch | 15 +++++++++++++++ 2 files changed, 31 insertions(+) create mode 100644 launch/fake-cell_ceti-table-1.launch create mode 100644 launch/fake-cell_ceti-table-2.launch diff --git a/launch/fake-cell_ceti-table-1.launch b/launch/fake-cell_ceti-table-1.launch new file mode 100644 index 0000000..ae86a96 --- /dev/null +++ b/launch/fake-cell_ceti-table-1.launch @@ -0,0 +1,16 @@ +<launch> + + <!-- MQTT server for communication with client cells --> + <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="address of the mqtt server for the connection to the controller"/> + + <include file="$(find ccf)/launch/fake_setup.launch"/> + + <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/> + + <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen"> + <param name="arm" type="string" value="arm1"/> + <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/> + <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/> + </node> + +</launch> diff --git a/launch/fake-cell_ceti-table-2.launch b/launch/fake-cell_ceti-table-2.launch new file mode 100644 index 0000000..6c6a6d0 --- /dev/null +++ b/launch/fake-cell_ceti-table-2.launch @@ -0,0 +1,15 @@ +<launch> + + <!-- MQTT server for communication with client cells --> + <arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/> + + <include file="$(find ccf)/launch/fake_setup.launch"/> + + <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_2/command"/> + + <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen"> + <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/> + <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/> + </node> + +</launch> -- GitLab