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Commit 52b05de7 authored by Johannes Mey's avatar Johannes Mey
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use better cell names, add simulated cell for MGs

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config/config_scene_ceti-table-1-full-grey.json 0 → 100644
+ 454
− 0
View file @ 52b05de7
{
"objects": [
{
"id": "wheel_1",
"pos": {
"x": 0.28,
"y": 0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "wheel_2",
"pos": {
"x": -0.28,
"y": -0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "wheel_3",
"pos": {
"x": -0.28,
"y": 0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "wheel_4",
"pos": {
"x": 0.28,
"y": -0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table_body_front",
"pos": {
"x": 0.345,
"z": 0.5
},
"size": {
"length": 0.005,
"width": 0.69,
"height": 0.76
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table_body_back",
"pos": {
"x": -0.345,
"z": 0.45
},
"size": {
"length": 0.005,
"width": 0.69,
"height": 0.66
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table_body_left",
"pos": {
"y": 0.345,
"z": 0.5
},
"size": {
"length": 0.69,
"width": 0.005,
"height": 0.76
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table_body_right",
"pos": {
"y": -0.345,
"z": 0.5
},
"size": {
"length": 0.69,
"width": 0.005,
"height": 0.76
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table-top",
"pos": {
"z": 0.885
},
"size": {
"length": 0.8,
"width": 0.8,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "left_panel",
"pos": {
"z": 0.885,
"y": -0.6525
},
"size": {
"length": 0.7,
"width": 0.5,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "right_panel",
"pos": {
"z": 0.885,
"y": 0.6525
},
"size": {
"length": 0.7,
"width": 0.5,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "D",
"type": "BIN",
"pos": {
"x": -0.23,
"y": 0.67,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.2,
"g": 0.2,
"b": 0.2
}
},
{
"id": "C",
"type": "BIN",
"pos": {
"x": -0.23,
"y": 0.49,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.4,
"g": 0.4,
"b": 0.4
}
},
{
"id": "B",
"type": "BIN",
"pos": {
"x": -0.23,
"y": -0.49,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.6,
"g": 0.6,
"b": 0.6
}
},
{
"id": "A",
"type": "BIN",
"pos": {
"x": -0.23,
"y": -0.67,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.8,
"g": 0.8,
"b": 0.8
}
},
{
"id": "bigYellow",
"type": "BOX",
"pos": {
"x": 0.2,
"y": 0.05,
"z": 0.9403
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.1006
},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1
}
},
{
"id": "bigGreen",
"type": "BOX",
"pos": {
"x": 0.3,
"y": 0.3,
"z": 0.9355
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.091
},
"orientation": {
"w": 1
},
"color": {
"g": 1
}
},
{
"id": "bigBlue",
"type": "BOX",
"pos": {
"x": 0.1,
"y": -0.25,
"z": 0.9355
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.091
},
"orientation": {
"w": 1
},
"color": {
"b": 1
}
},
{
"id": "smallBlue",
"type": "BOX",
"pos": {
"x": 0.1,
"y": 0.2,
"z": 0.9307
},
"size": {
"length": 0.0318,
"width": 0.0318,
"height": 0.0814
},
"orientation": {
"w": 1
},
"color": {
"b": 1
}
},
{
"id": "smallYellow",
"type": "BOX",
"pos": {
"x": 0.3,
"y": -0.2,
"z": 0.9307
},
"size": {
"length": 0.0318,
"width": 0.0318,
"height": 0.0814
},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1
}
},
{
"id": "smallRed",
"type": "BOX",
"pos": {
"x": 0.15,
"y": -0.15,
"z": 0.9307
},
"size": {
"length": 0.0318,
"width": 0.0318,
"height": 0.0814
},
"orientation": {
"w": 1
},
"color": {
"r": 1
}
},
{
"id": "arm",
"type": "ARM",
"pos": {
"z": 0.89,
"x": -0.22
},
"size": {},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1,
"b": 1
}
}
]
}
config/config_scene_ceti-table-1-full-grey.yaml 0 → 100644
+ 47
− 0
View file @ 52b05de7
# create json file using
# yq eval -o=json config_scene_ceti-table-1-full-grey.yaml > config_scene_ceti-table-1-full-grey.json
{ 'objects': [
# table
# height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
# wheels width/depth/height 12*12*12
# body width/depth/height 69*69*76
# table-top width/depth/height 80*80*1
# panels are 50*70, with 0.5 cm distance to the table-top
# height of both is 12 + 76 + .5 = 88.5
# their centre is at 40 + 0.25 + 25 = 65.25
{ 'id': 'wheel_1','pos': { 'x': 0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_2','pos': { 'x': -0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_3','pos': { 'x': -0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_4','pos': { 'x': 0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# a filled table and a backplate going all the way up is not possible, because of the oversized collision model of the robot
# { 'id': 'table_body','pos': { 'z': 0.50 },'size': { 'length': .69,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body_front','pos': { 'x': .345, 'z': 0.50 },'size': { 'length': 0.005,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body_back', 'pos': { 'x': -.345, 'z': 0.45 },'size': { 'length': 0.005,'width': 0.69,'height': 0.66 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body_left', 'pos': { 'y': .345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body_right','pos': { 'y': -.345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table-top', 'pos': { 'z': 0.885 },'size': { 'length': 0.8,'width': 0.8,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'left_panel', 'pos': { 'z': 0.885, 'y': -0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'right_panel', 'pos': { 'z': 0.885, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# { 'id': 'front_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# bins width/depth/height 28.5*19*15.5
# their height is 89 + 7.75 = 0.9675 m
# the width is 31.8 or 63.6
# if they stand on a panel edge, they stand at 40 + 0.5 + 14.25 = 54.75
# their x location is N*19 + 9.5 - 35 = N*20 - 25.5 = -25.5 and -5.5 and 14.5 if they have 1 cm distance
{ 'id': 'D','type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } },
{ 'id': 'C','type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } },
{ 'id': 'B','type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } },
{ 'id': 'A','type': 'BIN','pos': { 'x': -0.23,'y': -0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } },
{ 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
{ 'id': 'bigGreen','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
{ 'id': 'bigBlue','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'smallBlue','type': 'BOX','pos': { 'x': 0.10,'y': 0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
{ 'id': 'smallRed','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-coloured.launch
+ 2
− 2
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......@@ -6,9 +6,9 @@
<include file="$(find ccf)/launch/noop-sim_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_empty/command"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_empty" output="screen">
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
......
launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-grey.launch
+ 2
− 2
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......@@ -6,9 +6,9 @@
<include file="$(find ccf)/launch/noop-sim_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_empty/command"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_empty" output="screen">
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
......
launch/cell-controllers/noop-sim-cell_ceti-table-1-fullworld-grey.launch 0 → 100644
+ 19
− 0
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<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="$(find ccf)/launch/noop-sim_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string"
value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-full-grey.json"/>
</node>
</launch>
launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch
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......@@ -12,9 +12,9 @@
<arg name="load_gripper" value="true"/>
</include>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_empty/command"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_empty" output="screen">
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
......
launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-grey.launch
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View file @ 52b05de7
......@@ -12,9 +12,9 @@
<arg name="load_gripper" value="true"/>
</include>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_empty/command"/>
<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_empty" output="screen">
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
......
launch/distributed-sorting/main_controller_ceti-table-1_preview.launch
+ 1
− 1
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......@@ -2,7 +2,7 @@
<arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
<arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell', 'ceti_cell_empty']"
<arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']"
doc="potential client cell names"/>
<node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
......
launch/distributed-sorting/main_controller_virtual-tag_preview.launch
+ 1
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View file @ 52b05de7
......@@ -2,7 +2,7 @@
<arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
<arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell', 'ceti_cell_empty']"
<arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']"
doc="potential client cell names"/>
<node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
......
launch/distributed-sorting/main_controller_virtual_preview.launch
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View file @ 52b05de7
......@@ -2,7 +2,7 @@
<arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
<arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell', 'ceti_cell_empty']"
<arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']"
doc="potential client cell names"/>
<node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
......
src/main_controller.cpp
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View file @ 52b05de7
......@@ -58,7 +58,7 @@ int main(int argc, char** argv)
controller.addConnection(std::move(connection));
auto client_controllers = getPrivateParameter<std::vector<std::string>>(
"client_controllers", { "ceti_cell_1", "ceti_cell_2", "ads-cell", "st-cell", "ceti_cell_empty" });
"client_controllers", { "ceti_cell_1", "ceti_cell_2", "ads-cell", "st-cell" });
auto mqtt_server = getPrivateParameter<std::string>("mqtt_server", "tcp://127.0.0.1:1883");
// create an empty task
......
src/moveit_sorting_controller.cpp
+ 1
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View file @ 52b05de7
......@@ -18,7 +18,7 @@
#include "ccf/connection/MqttConnection.h"
#include "ccf/util/NodeUtil.h"
std::string NODE_NAME = "ceti_cell_empty";
std::string NODE_NAME = "ceti_cell_1";
using CetiRosToolbox::getParameter;
using CetiRosToolbox::getPrivateParameter;
......
src/object_locator.cpp
+ 2
− 1
View file @ 52b05de7
......@@ -68,7 +68,8 @@ int main(int argc, char** argv)
std::make_unique<MqttConnection>(mqttServer, ros::this_node::getName());
mqtt_connection->listen(getParameter<std::string>(n, "topics/selection", "selection"));
auto other_cell_scene_listener_topic =
getPrivateParameter<std::string>("other_cell_listener", "/ceti_cell_empty/scene/update");
getPrivateParameter<std::string>("other_cell_listener", "/ceti_cell_1"
"/scene/update");
auto other_cell_delta_update_topic =
getPrivateParameter<std::string>("other_cell_delta_updates", "object_locator/scene/update");
mqtt_connection->listen(other_cell_scene_listener_topic);
......
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