diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp index e5ba294a303d324bc487dd832a61fcbd426a1740..dc1bcc544d72c00128f7e54067a179efefcd2f96 100644 --- a/src/moveit_sorting_controller.cpp +++ b/src/moveit_sorting_controller.cpp @@ -32,7 +32,7 @@ int main(int argc, char** argv) ros::NodeHandle n("connector_node_ros_ccf"); // namespace where the connection_address is - auto robotName = getPrivateParameter<std::string>("arm", "arm1"); + auto robotName = getPrivateParameter<std::string>("arm", "arm"); ROS_INFO_STREAM("This cell controls arm " << robotName); MoveItRobotArmController controller{ n, NODE_NAME, robotName }; @@ -72,20 +72,7 @@ int main(int argc, char** argv) controller.sendScene(); }); // send a scene every three seconds - controller.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") + "/con" - "fig/" - "conf" - "ig_" - "scen" - "e_" - "ceti" - "-tab" - "le-" - "1-" - "empt" - "y." - "jso" - "n")); + controller.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") + "/config/config_scene_ceti-table-1-empty-grey.json")); // only add the scene observer after the base scene has been loaded controller.addCallback(scene_observer_topic, [&controller](auto msg) {