diff --git a/config/config_scene_ceti-table-1-full-grey.json b/config/config_scene_ceti-table-1-full-grey.json new file mode 100644 index 0000000000000000000000000000000000000000..0100c81491e23123009f7dad73c8a627436ba53b --- /dev/null +++ b/config/config_scene_ceti-table-1-full-grey.json @@ -0,0 +1,454 @@ +{ + "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 + } + } + ] +} diff --git a/config/config_scene_ceti-table-1-full-grey.yaml b/config/config_scene_ceti-table-1-full-grey.yaml new file mode 100644 index 0000000000000000000000000000000000000000..59e92a9d06b1b67a14a70f1aba0055054db294be --- /dev/null +++ b/config/config_scene_ceti-table-1-full-grey.yaml @@ -0,0 +1,47 @@ +# 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 } } +] } diff --git a/launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-coloured.launch b/launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-coloured.launch index c53a88ca9b2eb79170934846b90723f2f984f3b9..162b9a29d428c56d1dec8649215142a581a19b0f 100644 --- a/launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-coloured.launch +++ b/launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-coloured.launch @@ -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)"/> diff --git a/launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-grey.launch b/launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-grey.launch index 38b019ea47ba9c293ba5fec8f8c0c94a59f0bb71..694569b2bcec7cf207b96d374a05ce309b8a11c1 100644 --- a/launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-grey.launch +++ b/launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-grey.launch @@ -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)"/> diff --git a/launch/cell-controllers/noop-sim-cell_ceti-table-1-fullworld-grey.launch b/launch/cell-controllers/noop-sim-cell_ceti-table-1-fullworld-grey.launch new file mode 100644 index 0000000000000000000000000000000000000000..92f194c6c873778cffaba0c49d04698e4530ae58 --- /dev/null +++ b/launch/cell-controllers/noop-sim-cell_ceti-table-1-fullworld-grey.launch @@ -0,0 +1,19 @@ +<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-full-grey.json"/> + </node> + +</launch> diff --git a/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch b/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch index adb170d8ce24c254fa5867b70a5e73cf69d53adc..60a6e49f2de4d856535d63e1e84f3adc6073c59c 100644 --- a/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch +++ b/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch @@ -12,9 +12,9 @@ <arg name="load_gripper" value="true"/> </include> - <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_empty/command"/> + <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/> - <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_empty" output="screen"> + <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen"> <param name="arm" type="string" value="arm"/> <param name="scene_observer" type="string" value="object_locator/scene/update"/> <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/> diff --git a/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-grey.launch b/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-grey.launch index 114196263f8d30e969abf6c67fa22e9f534bddb4..0d733c74d517198a7d2828cfb7528521496ea068 100644 --- a/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-grey.launch +++ b/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-grey.launch @@ -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)"/> diff --git a/launch/distributed-sorting/main_controller_ceti-table-1_preview.launch b/launch/distributed-sorting/main_controller_ceti-table-1_preview.launch index a9301186dc72003131e4e4b349dc294336e8bf28..26441ca1ed7c1a07595117811dec1d7eaf9329c1 100644 --- a/launch/distributed-sorting/main_controller_ceti-table-1_preview.launch +++ b/launch/distributed-sorting/main_controller_ceti-table-1_preview.launch @@ -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"> diff --git a/launch/distributed-sorting/main_controller_virtual-tag_preview.launch b/launch/distributed-sorting/main_controller_virtual-tag_preview.launch index 4c1b2258e076bc1566ddb45b1294dc1fa5b08337..adbafbfd8558bc321ba307dc54c8839d68f51d2a 100644 --- a/launch/distributed-sorting/main_controller_virtual-tag_preview.launch +++ b/launch/distributed-sorting/main_controller_virtual-tag_preview.launch @@ -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"> diff --git a/launch/distributed-sorting/main_controller_virtual_preview.launch b/launch/distributed-sorting/main_controller_virtual_preview.launch index dfafa92ac589a108a5fb05556429a2b5bd142741..c7e53704cfec19f399a37c3fc903642b42b1669f 100644 --- a/launch/distributed-sorting/main_controller_virtual_preview.launch +++ b/launch/distributed-sorting/main_controller_virtual_preview.launch @@ -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"> diff --git a/src/main_controller.cpp b/src/main_controller.cpp index 1a63c16261b3132100a257c060f7b920156d0776..022fec57cbbf3ac243c43f099ab64cbfe05c3aac 100644 --- a/src/main_controller.cpp +++ b/src/main_controller.cpp @@ -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 diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp index 7c99df08a4093c2015618e5d827f69cb26dada6d..081c6f86f019062cb526128046f5036cc0bbc37f 100644 --- a/src/moveit_sorting_controller.cpp +++ b/src/moveit_sorting_controller.cpp @@ -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; diff --git a/src/object_locator.cpp b/src/object_locator.cpp index 81fc60d1cc42ff8a3b4493dd0b478de0cace3d17..95b4be3efe4040f8166b156bd3d6a77a660c769b 100644 --- a/src/object_locator.cpp +++ b/src/object_locator.cpp @@ -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);