remove old sync parameters

launch/dummy-cell_ads-table.launch

 <launch>
 
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="[]"/>
 
-    <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ads-cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
     </node>
 

launch/dummy-cell_ceti-table.launch

 <launch>
 
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="[]"/>
 
     <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti-cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
     </node>
 

launch/dummy-cell_st-table.launch

 <launch>
 
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="[]"/>
 
-    <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ads-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="st-cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
     </node>
 

launch/main_controller_virtual-table.launch

 <launch>
 
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="['ads', 'st', 'ceti']"/>
+    <arg name="client_controllers" default="['ads-cell', 'st-cell', 'ceti-cell']"/>
 
 
     <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">

launch/random_selector_automatic.launch

 <launch>
     <arg name="autoselect" default="true"/>
     <arg name="prefix" default="selector"/>
-    <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider"
+    <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="automatic_random_selector"
           output="screen">
         <param name="autoselect" type="bool" value="$(arg autoselect)"/>
         <param name="prefix" type="string" value="$(arg prefix)"/>

launch/random_selector_manual.launch

 <launch>
     <arg name="autoselect" default="false"/>
     <arg name="prefix" default="selector"/>
-    <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider"
+    <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="manual_random_selector"
           output="screen">
         <param name="autoselect" type="bool" value="$(arg autoselect)"/>
         <param name="prefix" type="string" value="$(arg prefix)"/>

launch/robot-cell_ads-table.launch

@@ -2,17 +2,14 @@
     <arg name="robot_ip" default="172.31.1.13"/>
     <arg name="load_gripper" default="true"/>
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="[]"/>
 
     <include file="$(find ccf)/launch/robot_setup.launch">
         <arg name="robot_ip" value="$(arg robot_ip)"/>
         <arg name="load_gripper" value="$(arg load_gripper)"/>
     </include>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
-          output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads-cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
     </node>
 

launch/robot-cell_ceti-table.launch

@@ -2,17 +2,14 @@
     <arg name="robot_ip" default="172.31.1.13"/>
     <arg name="load_gripper" default="true"/>
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="[]"/>
 
     <include file="$(find ccf)/launch/robot_setup.launch">
         <arg name="robot_ip" value="$(arg robot_ip)"/>
         <arg name="load_gripper" value="$(arg load_gripper)"/>
     </include>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
-          output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti-cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
     </node>
 

launch/robot-cell_st-table.launch

@@ -2,17 +2,14 @@
     <arg name="robot_ip" default="172.31.1.13"/>
     <arg name="load_gripper" default="true"/>
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="[]"/>
 
     <include file="$(find ccf)/launch/robot_setup.launch">
         <arg name="robot_ip" value="$(arg robot_ip)"/>
         <arg name="load_gripper" value="$(arg load_gripper)"/>
     </include>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
-          output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st-cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
     </node>
 

launch/simulated-cell_ads-table.launch

 <launch>
 
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="[]"/>
 
     <include file="$(find ccf)/launch/simulation_setup.launch"/>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
-          output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads-cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
     </node>
 

launch/simulated-cell_ceti-table.launch

 <launch>
 
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="[]"/>
 
     <include file="$(find ccf)/launch/simulation_setup.launch"/>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
-          output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti-cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
     </node>
 

launch/simulated-cell_st-table.launch

 <launch>
 
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="[]"/>
 
     <include file="$(find ccf)/launch/simulation_setup.launch"/>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
-          output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st-cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
     </node>
 

src/dummy_sorting_controller.cpp

@@ -42,8 +42,6 @@ int main(int argc, char **argv) {
     connection->setSendTopic(getParameter(n, "topics/scene", NODE_NAME + "/scene/update"));
     connector.addConnection(std::move(connection));
 
-    auto clientControllers = getPrivateParameter<std::vector<std::string>>("client_controllers");
-
     auto mqttServer = getPrivateParameter<std::string>("mqtt_server", "localhost:1883");
     std::unique_ptr<MqttConnection> mqtt_connection = std::make_unique<MqttConnection>(mqttServer, ros::this_node::getName());
     mqtt_connection->listen(getParameter<std::string>(n, "topics/selection", "selection"));

src/main_controller.cpp

@@ -18,7 +18,7 @@
 #include "ccf/connection/MqttConnection.h"
 #include "ccf/util/NodeUtil.h"
 
-std::string NODE_NAME = "dummy_sorting_controller";
+std::string NODE_NAME = "main_controller";
 
 using CetiRosToolbox::getParameter;
 using CetiRosToolbox::getPrivateParameter;

src/moveit_sorting_controller.cpp

@@ -42,10 +42,10 @@ int main(int argc, char **argv) {
     connection->setSendTopic(getParameter(n, "topics/scene", NODE_NAME + "/scene/update"));
     connector.addConnection(std::move(connection));
 
-    auto clientControllers = getPrivateParameter<std::vector<std::string>>("client_controllers");
-
     auto mqttServer = getPrivateParameter<std::string>("mqtt_server", "localhost:1883");
     std::unique_ptr<MqttConnection> mqtt_connection = std::make_unique<MqttConnection>(mqttServer, ros::this_node::getName());
+    mqtt_connection->listen(getParameter<std::string>(n, "topics/selection", "selection"));
+    connector.addConnection(std::move(mqtt_connection));
 
     ros::WallDuration(5).sleep(); // wait 5 secs to init scene (to give moveit time to load)