From 6c2a90b30d4c17219447aa18291b8c07d6f433ca Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 29 Jun 2022 10:24:14 +0200
Subject: [PATCH] fix main controller for dashboard
---
src/main_controller.cpp | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/main_controller.cpp b/src/main_controller.cpp
index 0219cbc..1849c62 100644
--- a/src/main_controller.cpp
+++ b/src/main_controller.cpp
@@ -54,7 +54,7 @@ int main(int argc, char **argv)
connection->setSendTopic(getParameter(n, "topics/scene", NODE_NAME + "/scene/update"));
controller.addConnection(std::move(connection));
- auto client_controllers = getPrivateParameter<std::vector<std::string>>("client_controllers");
+ auto client_controllers = getPrivateParameter<std::vector<std::string>>("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
@@ -79,6 +79,7 @@ int main(int argc, char **argv)
auto scene_update_topic = "/" + client + getParameter<std::string>(n, "topics/scene", "/scene/update");
ROS_INFO_STREAM("Listening to MQTT topic " << scene_update_topic);
client_connection->listen(scene_update_topic);
+ client_connection->listen(getParameter<std::string>(n, "topics/selection", "selection"));
controller.addCallback(scene_update_topic, [client, &clients](auto msg)
{
ROS_INFO_STREAM("Got an updated scene from client " << client);
@@ -89,7 +90,7 @@ int main(int argc, char **argv)
auto fallback_path = ros::package::getPath("ccf_immersive_sorting") + "/config/config_scene_virtual-table.json";
controller.loadScene(getPrivateParameter<std::string>("scene", fallback_path));
- Object *robot = nullptr; // FIXME
+ Object *robot = controller.resolveObject(controller.getRobotName());
Object *selected_box = nullptr;
Object *selected_bin = nullptr;
std::optional<std::string> picked_box{};
--
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