From 368c38b8429bd47627af2a93b06158e9459c73f1 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 22 Dec 2021 15:08:14 +0100
Subject: [PATCH] switch to mqtt connection for communication with main
controller
---
src/dummy_sorting_controller.cpp | 15 +++++++--------
src/moveit_sorting_controller.cpp | 11 +++--------
2 files changed, 10 insertions(+), 16 deletions(-)
diff --git a/src/dummy_sorting_controller.cpp b/src/dummy_sorting_controller.cpp
index d1580ae..0e06b14 100644
--- a/src/dummy_sorting_controller.cpp
+++ b/src/dummy_sorting_controller.cpp
@@ -15,6 +15,7 @@
#include "ccf/controller/DummyRobotArmController.h"
#include "ccf/connection/NngConnection.h"
+#include "ccf/connection/MqttConnection.h"
#include "ccf/util/NodeUtil.h"
std::string NODE_NAME = "dummy_sorting_controller";
@@ -43,14 +44,12 @@ int main(int argc, char **argv) {
auto clientControllers = getPrivateParameter<std::vector<std::string>>("client_controllers");
- ROS_INFO_STREAM("Connecting to " << clientControllers.size() << " client controllers.");
- for (const auto &client: clientControllers) {
- ROS_INFO_STREAM("Connecting to client at " << client << ".");
- std::unique_ptr<NngConnection> client_connection = std::make_unique<NngConnection>(client, false);
- client_connection->setSendTopic(getParameter<std::string>(n, "topics/selection", "selection"));
- client_connection->setReceiveTopic("client_scene");
- connector.addConnection(std::move(client_connection));
- }
+ auto mqttServer = getPrivateParameter<std::string>("mqtt_server", "localhost:1883");
+ std::unique_ptr<MqttConnection> mqtt_connection = std::make_unique<MqttConnection>(mqttServer, ros::this_node::getName());
+ mqtt_connection->listen(getParameter<std::string>(n, "topics/selection", "selection"));
+ connector.addConnection(std::move(mqtt_connection));
+
+ ros::WallDuration(5).sleep(); // wait 5 secs to init scene (to give moveit time to load)
connector.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") +
"/config/config_scene.yaml"));
diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp
index 8e5d948..28863b4 100644
--- a/src/moveit_sorting_controller.cpp
+++ b/src/moveit_sorting_controller.cpp
@@ -15,6 +15,7 @@
#include "ccf/controller/MoveItRobotArmController.h"
#include "ccf/connection/NngConnection.h"
+#include "ccf/connection/MqttConnection.h"
#include "ccf/util/NodeUtil.h"
std::string NODE_NAME = "moveit_sorting_controller";
@@ -43,14 +44,8 @@ int main(int argc, char **argv) {
auto clientControllers = getPrivateParameter<std::vector<std::string>>("client_controllers");
- ROS_INFO_STREAM("Connecting to " << clientControllers.size() << " client controllers.");
- for (const auto &client: clientControllers) {
- ROS_INFO_STREAM("Connecting to client at " << client << ".");
- std::unique_ptr<NngConnection> client_connection = std::make_unique<NngConnection>(client, false);
- client_connection->setSendTopic(getParameter<std::string>(n, "topics/selection", "selection"));
- client_connection->setReceiveTopic("client_scene");
- connector.addConnection(std::move(client_connection));
- }
+ auto mqttServer = getPrivateParameter<std::string>("mqtt_server", "localhost:1883");
+ std::unique_ptr<MqttConnection> mqtt_connection = std::make_unique<MqttConnection>(mqttServer, ros::this_node::getName());
ros::WallDuration(5).sleep(); // wait 5 secs to init scene (to give moveit time to load)
--
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