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 b27df836576a86e4a8314fc02792f0137b18ce03..23fbe9389516a2fae650247d5729759d98a55518 100644 --- a/launch/distributed-sorting/main_controller_ceti-table-1_preview.launch +++ b/launch/distributed-sorting/main_controller_ceti-table-1_preview.launch @@ -2,12 +2,13 @@ <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']" doc="potential client cell names"/> + <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell', 'ceti_cell_empty']" doc="potential client cell names"/> <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen"> <param name="connection_address" type="string" value="$(arg connection_address)"/> <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/> <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/> + <param name="arm" type="string" value="arm"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/> </node> diff --git a/launch/distributed-sorting/main_controller_virtual_preview.launch b/launch/distributed-sorting/main_controller_virtual_preview.launch index 81171aab75b62567c907ab7fbe5e6f5a29e36ee4..745dd77bee67f84d16932b9860a30e438e2de823 100644 --- a/launch/distributed-sorting/main_controller_virtual_preview.launch +++ b/launch/distributed-sorting/main_controller_virtual_preview.launch @@ -2,12 +2,13 @@ <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']" doc="potential client cell names"/> + <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell', 'ceti_cell_empty']" doc="potential client cell names"/> <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen"> <param name="connection_address" type="string" value="$(arg connection_address)"/> <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/> <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/> + <param name="arm" type="string" value="arm"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_virtual-table.json"/> </node> diff --git a/launch/distributed-sorting/main_controller_virtual_preview_ceti-table-1_real_robot.launch b/launch/distributed-sorting/main_controller_virtual_preview_ceti-table-1_real_robot.launch deleted file mode 100644 index 4690e772f49937885c2c59696b986b23f4ab84e9..0000000000000000000000000000000000000000 --- a/launch/distributed-sorting/main_controller_virtual_preview_ceti-table-1_real_robot.launch +++ /dev/null @@ -1,12 +0,0 @@ -<launch> - - <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']" doc="potential client cell names"/> - <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/> - - <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/> - - <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-1.launch" pass_all_args="true"/> - -</launch> diff --git a/launch/distributed-sorting/main_controller_virtual_preview_ceti-table-2_real_robot.launch b/launch/distributed-sorting/main_controller_virtual_preview_ceti-table-2_real_robot.launch deleted file mode 100644 index 05057aa822f90bba8f760089e4aff3fa543679f3..0000000000000000000000000000000000000000 --- a/launch/distributed-sorting/main_controller_virtual_preview_ceti-table-2_real_robot.launch +++ /dev/null @@ -1,12 +0,0 @@ -<launch> - - <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']" doc="potential client cell names"/> - <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/> - - <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/> - - <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-2.launch" pass_all_args="true"/> - -</launch>