send the scene more frequently, restart the scene provider when it crashes

launch/distributed-sorting/virtual_scene_provider.launch

@@ -3,7 +3,7 @@
     <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"/>
 
-    <node pkg="ccf_immersive_sorting" type="virtual_scene_provider" name="main_controller" output="screen">
+    <node pkg="ccf_immersive_sorting" type="virtual_scene_provider" name="main_controller" output="screen" respawn="true" respawn_delay="3">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
         <param name="arm" type="string" value="virtual-arm"/>

src/virtual_scene_provider.cpp

@@ -62,25 +62,21 @@ int main(int argc, char **argv)
   controller.addConnection(client_connection);
   client_connection->listen(getParameter<std::string>(n, "topics/selection", "selection"));
 
-  auto fallback_path = ros::package::getPath("ccf_immersive_sorting") + "/config/config_scene_virtual-tag-table-grey.json";
+  auto fallback_path =
+      ros::package::getPath("ccf_immersive_sorting") + "/config/config_scene_virtual-tag-table-grey.json";
   controller.loadScene(getPrivateParameter<std::string>("scene", fallback_path));
 
-  Object *robot = controller.resolveObject(controller.getRobotName());
   Object* selected_box = nullptr;
   Object* selected_bin = nullptr;
 
   ros::Subscriber sub = n.subscribe<std_msgs::Empty>(
-      "send_scene", 1000, [&controller](const std_msgs::EmptyConstPtr &msg)
-      { controller.sendScene(); });
-  ros::Timer timer = n.createTimer(ros::Duration(10), [&controller](const ros::TimerEvent &event)
-  {
+      "send_scene", 1000, [&controller](const std_msgs::EmptyConstPtr& msg) { controller.sendScene(); });
+  ros::Timer timer = n.createTimer(ros::Duration(3), [&controller](const ros::TimerEvent& event) {
     controller.sendScene();
-  });  // send a scene every ten seconds
-
-  auto selection_message_callback =
-      [&controller, &selected_box, &selected_bin, client_connection](const Selection &selection)
-      {
+  });  // send a scene every three seconds
 
+  auto selection_message_callback = [&controller, &selected_box, &selected_bin,
+                                     client_connection](const Selection& selection) {
     client_connection->send("vr_selection", selection.SerializeAsString());
 
     Object* object = controller.resolveObject(selection.id());