From 774dc5a6fd86be592fdb8e564b5b3bf1ce95a8ff Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Wed, 22 Dec 2021 17:06:10 +0100 Subject: [PATCH] remove old sync parameters --- launch/dummy-cell_ads-table.launch | 4 +--- launch/dummy-cell_ceti-table.launch | 2 -- launch/dummy-cell_st-table.launch | 4 +--- launch/main_controller_virtual-table.launch | 2 +- launch/random_selector_automatic.launch | 2 +- launch/random_selector_manual.launch | 2 +- launch/robot-cell_ads-table.launch | 5 +---- launch/robot-cell_ceti-table.launch | 5 +---- launch/robot-cell_st-table.launch | 5 +---- launch/simulated-cell_ads-table.launch | 5 +---- launch/simulated-cell_ceti-table.launch | 5 +---- launch/simulated-cell_st-table.launch | 5 +---- src/dummy_sorting_controller.cpp | 2 -- src/main_controller.cpp | 2 +- src/moveit_sorting_controller.cpp | 4 ++-- 15 files changed, 14 insertions(+), 40 deletions(-) diff --git a/launch/dummy-cell_ads-table.launch b/launch/dummy-cell_ads-table.launch index 09cebe0..d73c4d0 100644 --- a/launch/dummy-cell_ads-table.launch +++ b/launch/dummy-cell_ads-table.launch @@ -1,11 +1,9 @@ <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="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/> </node> diff --git a/launch/dummy-cell_ceti-table.launch b/launch/dummy-cell_ceti-table.launch index 81a4e20..a53069b 100644 --- a/launch/dummy-cell_ceti-table.launch +++ b/launch/dummy-cell_ceti-table.launch @@ -1,11 +1,9 @@ <launch> <arg name="connection_address" default="tcp://*:6576"/> - <arg name="client_controllers" default="[]"/> <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti-cell" output="screen"> <param name="connection_address" type="string" value="$(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> diff --git a/launch/dummy-cell_st-table.launch b/launch/dummy-cell_st-table.launch index 4b52ad0..bf81551 100644 --- a/launch/dummy-cell_st-table.launch +++ b/launch/dummy-cell_st-table.launch @@ -1,11 +1,9 @@ <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="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/> </node> diff --git a/launch/main_controller_virtual-table.launch b/launch/main_controller_virtual-table.launch index 22b6985..936bc7c 100644 --- a/launch/main_controller_virtual-table.launch +++ b/launch/main_controller_virtual-table.launch @@ -1,7 +1,7 @@ <launch> <arg name="connection_address" default="tcp://*:6576"/> - <arg name="client_controllers" default="['ads', 'st', 'ceti']"/> + <arg name="client_controllers" default="['ads-cell', 'st-cell', 'ceti-cell']"/> <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen"> diff --git a/launch/random_selector_automatic.launch b/launch/random_selector_automatic.launch index dfa5a5d..1561497 100644 --- a/launch/random_selector_automatic.launch +++ b/launch/random_selector_automatic.launch @@ -1,7 +1,7 @@ <launch> <arg name="autoselect" default="true"/> <arg name="prefix" default="selector"/> - <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" + <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="automatic_random_selector" output="screen"> <param name="autoselect" type="bool" value="$(arg autoselect)"/> <param name="prefix" type="string" value="$(arg prefix)"/> diff --git a/launch/random_selector_manual.launch b/launch/random_selector_manual.launch index 778ad91..5b38e3e 100644 --- a/launch/random_selector_manual.launch +++ b/launch/random_selector_manual.launch @@ -1,7 +1,7 @@ <launch> <arg name="autoselect" default="false"/> <arg name="prefix" default="selector"/> - <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" + <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="manual_random_selector" output="screen"> <param name="autoselect" type="bool" value="$(arg autoselect)"/> <param name="prefix" type="string" value="$(arg prefix)"/> diff --git a/launch/robot-cell_ads-table.launch b/launch/robot-cell_ads-table.launch index c2b1167..5065cc7 100644 --- a/launch/robot-cell_ads-table.launch +++ b/launch/robot-cell_ads-table.launch @@ -2,17 +2,14 @@ <arg name="robot_ip" default="172.31.1.13"/> <arg name="load_gripper" default="true"/> <arg name="connection_address" default="tcp://*:6576"/> - <arg name="client_controllers" default="[]"/> <include file="$(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="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/> </node> diff --git a/launch/robot-cell_ceti-table.launch b/launch/robot-cell_ceti-table.launch index edbcecd..a2eb31c 100644 --- a/launch/robot-cell_ceti-table.launch +++ b/launch/robot-cell_ceti-table.launch @@ -2,17 +2,14 @@ <arg name="robot_ip" default="172.31.1.13"/> <arg name="load_gripper" default="true"/> <arg name="connection_address" default="tcp://*:6576"/> - <arg name="client_controllers" default="[]"/> <include file="$(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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/> </node> diff --git a/launch/robot-cell_st-table.launch b/launch/robot-cell_st-table.launch index 0f58944..b6a9e73 100644 --- a/launch/robot-cell_st-table.launch +++ b/launch/robot-cell_st-table.launch @@ -2,17 +2,14 @@ <arg name="robot_ip" default="172.31.1.13"/> <arg name="load_gripper" default="true"/> <arg name="connection_address" default="tcp://*:6576"/> - <arg name="client_controllers" default="[]"/> <include file="$(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="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/> </node> diff --git a/launch/simulated-cell_ads-table.launch b/launch/simulated-cell_ads-table.launch index 003e303..7e34f02 100644 --- a/launch/simulated-cell_ads-table.launch +++ b/launch/simulated-cell_ads-table.launch @@ -1,14 +1,11 @@ <launch> <arg name="connection_address" default="tcp://*:6576"/> - <arg name="client_controllers" default="[]"/> <include file="$(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="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/> </node> diff --git a/launch/simulated-cell_ceti-table.launch b/launch/simulated-cell_ceti-table.launch index 1a3dd3c..ca6b923 100644 --- a/launch/simulated-cell_ceti-table.launch +++ b/launch/simulated-cell_ceti-table.launch @@ -1,14 +1,11 @@ <launch> <arg name="connection_address" default="tcp://*:6576"/> - <arg name="client_controllers" default="[]"/> <include file="$(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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/> </node> diff --git a/launch/simulated-cell_st-table.launch b/launch/simulated-cell_st-table.launch index 70f4a22..25563d7 100644 --- a/launch/simulated-cell_st-table.launch +++ b/launch/simulated-cell_st-table.launch @@ -1,14 +1,11 @@ <launch> <arg name="connection_address" default="tcp://*:6576"/> - <arg name="client_controllers" default="[]"/> <include file="$(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> diff --git a/src/dummy_sorting_controller.cpp b/src/dummy_sorting_controller.cpp index fcf5a5f..52b4147 100644 --- a/src/dummy_sorting_controller.cpp +++ b/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")); diff --git a/src/main_controller.cpp b/src/main_controller.cpp index c38d0f8..37a30db 100644 --- a/src/main_controller.cpp +++ b/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; diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp index 5da3500..d6c538d 100644 --- a/src/moveit_sorting_controller.cpp +++ b/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) -- GitLab