do not send the scene every ten seconds

src/moveit_sorting_controller.cpp

@@ -60,14 +60,21 @@ int main(int argc, char **argv)
   controller.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") +
       "/config/config_scene_ceti-table-placeworld.json"));
 
+  // TODO check if this is required (since loadScene already sends the scene)
+  ROS_INFO_STREAM("Sending initial scene after loading it.");
+  controller.sendScene();
+
   std::optional<std::string> currentlyPickedBox{};
 
   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)
-  { controller.sendScene(); }); // send a scene every ten seconds
+  {
+      ROS_INFO_STREAM("Sending scene manually (triggered by a message to the 'send_scene' topic)");
+      controller.sendScene();
+  });
+  //ros::Timer timer = n.createTimer(ros::Duration(10), [&controller](
+  //    const ros::TimerEvent &event)
+  //{ controller.sendScene(); }); // send a scene every ten seconds
 
 
   auto pick_place_callback = [&controller](const Command& command)