From 51de7e237770ee290767ef1479272a71b0f33dda Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 22 Feb 2023 17:45:57 +0100
Subject: [PATCH] change defaults to simplify debugging
---
src/moveit_sorting_controller.cpp | 17 ++---------------
1 file changed, 2 insertions(+), 15 deletions(-)
diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp
index e5ba294..dc1bcc5 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) {
--
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