From 52b05de7497d8dd81529ba76ff37eade1fb46110 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Sun, 9 Oct 2022 18:40:23 +0200
Subject: [PATCH] use better cell names, add simulated cell for MGs
---
.../config_scene_ceti-table-1-full-grey.json | 454 ++++++++++++++++++
.../config_scene_ceti-table-1-full-grey.yaml | 47 ++
...ll_ceti-table-1-emptyworld-coloured.launch | 4 +-
...m-cell_ceti-table-1-emptyworld-grey.launch | 4 +-
...im-cell_ceti-table-1-fullworld-grey.launch | 19 +
...ll_ceti-table-1-emptyworld-coloured.launch | 4 +-
...t-cell_ceti-table-1-emptyworld-grey.launch | 4 +-
...ain_controller_ceti-table-1_preview.launch | 2 +-
...main_controller_virtual-tag_preview.launch | 2 +-
.../main_controller_virtual_preview.launch | 2 +-
src/main_controller.cpp | 2 +-
src/moveit_sorting_controller.cpp | 2 +-
src/object_locator.cpp | 3 +-
13 files changed, 535 insertions(+), 14 deletions(-)
create mode 100644 config/config_scene_ceti-table-1-full-grey.json
create mode 100644 config/config_scene_ceti-table-1-full-grey.yaml
create mode 100644 launch/cell-controllers/noop-sim-cell_ceti-table-1-fullworld-grey.launch
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 0000000..0100c81
--- /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 0000000..59e92a9
--- /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 c53a88c..162b9a2 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 38b019e..694569b 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 0000000..92f194c
--- /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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-full-grey.json"/>
+ </node>
+
+</launch>
diff --git a/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch b/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch
index adb170d..60a6e49 100644
--- a/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch
+++ b/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch
@@ -12,9 +12,9 @@
<arg name="load_gripper" value="true"/>
</include>
- <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_empty/command"/>
+ <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/>
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_empty" output="screen">
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(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 1141962..0d733c7 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 a930118..26441ca 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 4c1b225..adbafbf 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 dfafa92..c7e5370 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 1a63c16..022fec5 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 7c99df0..081c6f8 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 81fc60d..95b4be3 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);
--
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