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Commit 6bcd1a9d authored by Johannes Mey's avatar Johannes Mey
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align naming of config and launch files

parent 63c7bf06
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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="$(find ccf)/launch/noop-sim_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_empty/command"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_empty" output="screen">
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-coloured.json"/>
</node>
</launch>
...@@ -11,7 +11,7 @@ ...@@ -11,7 +11,7 @@
<param name="arm" type="string" value="arm"/> <param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/> <param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/> <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-empty.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-grey.json"/>
</node> </node>
</launch> </launch>
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
<include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="true"/>
</include>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_empty/command"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_empty" output="screen">
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-coloured.json"/>
</node>
</launch>
...@@ -17,7 +17,7 @@ ...@@ -17,7 +17,7 @@
<param name="arm" type="string" value="arm"/> <param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/> <param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/> <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-empty.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-grey.json"/>
</node> </node>
</launch> </launch>
...@@ -9,7 +9,7 @@ ...@@ -9,7 +9,7 @@
<param name="client_controllers" type="yaml" value="$(arg client_controllers)"/> <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/> <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="arm" type="string" value="virtual-arm"/> <param name="arm" type="string" value="virtual-arm"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_virtual-tag-table.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_virtual-tag-table-grey.json"/>
</node> </node>
</launch> </launch>
...@@ -3,13 +3,14 @@ ...@@ -3,13 +3,14 @@
<arg name="node_namespace" default="apriltag_ros_continuous_node" /> <arg name="node_namespace" default="apriltag_ros_continuous_node" />
<arg name="camera_name" default="/usb_cam" /> <arg name="camera_name" default="/usb_cam" />
<arg name="image_topic" default="image_rect" /> <arg name="image_topic" default="image_rect" />
<arg name="device" default="/dev/video0" />
<!-- Set parameters --> <!-- Set parameters -->
<rosparam command="load" file="$(find ccf_immersive_sorting)/config/settings.yaml" ns="$(arg node_namespace)" /> <rosparam command="load" file="$(find ccf_immersive_sorting)/config/settings.yaml" ns="$(arg node_namespace)" />
<rosparam command="load" file="$(find ccf_immersive_sorting)/config/tags.yaml" ns="$(arg node_namespace)" /> <rosparam command="load" file="$(find ccf_immersive_sorting)/config/tags.yaml" ns="$(arg node_namespace)" />
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="log"> <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="log">
<param name="video_device" value="/dev/video2" /> <param name="video_device" value="$(arg device)" />
<param name="image_width" value="2560" /> <param name="image_width" value="2560" />
<param name="image_height" value="1440" /> <param name="image_height" value="1440" />
<param name="autofocus" value="1" /> <param name="autofocus" value="1" />
......
...@@ -91,7 +91,7 @@ int main(int argc, char **argv) ...@@ -91,7 +91,7 @@ int main(int argc, char **argv)
// uncomment in case things fail. clients[client].proceedWithTask(); // uncomment in case things fail. clients[client].proceedWithTask();
}); });
} }
auto fallback_path = ros::package::getPath("ccf_immersive_sorting") + "/config/config_scene_virtual-tag-table.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)); controller.loadScene(getPrivateParameter<std::string>("scene", fallback_path));
Object *robot = controller.resolveObject(controller.getRobotName()); Object *robot = controller.resolveObject(controller.getRobotName());
......
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