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Commit 79f3e9fe authored by Johannes Mey's avatar Johannes Mey
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rename launch files and remove outdated config file

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with 34 additions and 102 deletions
config/config_scene.yaml deleted 100644 → 0
+ 0
− 20
View file @ 368c38b8
{ 'objects': [
{ 'id': 'tablePillar1','pos': { 'x': 0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'tablePillar2','pos': { 'x': -0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'tablePillar3','pos': { 'x': -0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'tablePillar4','pos': { 'x': 0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'tableCenter','pos': { 'z': 0.7 },'size': { 'length': 1.6,'width': 1.6,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.34,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed','type': 'BIN','pos': { 'x': 0.06,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.46,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
{ 'id': 'objectRed1','type': 'BOX','pos': { 'x': 0.5,'y': -0.1,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
{ 'id': 'objectRed2','type': 'BOX','pos': { 'x': 0.25,'y': -0.2,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'objectRed3','type': 'BOX','pos': { 'x': -0.4,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
{ 'id': 'objectGreen1','type': 'BOX','pos': { 'x': 0.45,'y': -0.3,'z': 0.8105 },'size': {'length':0.031,'width':0.062,'height':0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
{ 'id': 'objectGreen2','type': 'BOX','pos': { 'x': -0.45,'y': -0.2,'z': 0.8105 },'size': {'length':0.031,'width':0.031,'height':0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } },
{ 'id': 'objectGreen3','type': 'BOX','pos': { 'x': 0.1,'y': -0.3,'z': 0.819 },'size': {'length':0.031,'width':0.062,'height':0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
{ 'id': 'objectBlue1','type': 'BOX','pos': { 'x': 0.25,'y': -0.4,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
{ 'id': 'objectBlue2','type': 'BOX','pos': { 'x': -0.3,'y': -0.3,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
{ 'id': 'objectBlue3','type': 'BOX','pos': { 'x': 0.4,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
{ 'id': 'arm','type': 'ARM','pos': { 'z': 0.75 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
launch/ceti-table_robot_main_dummy_selector.launch deleted 100644 → 0
+ 0
− 4
View file @ 368c38b8
<launch>
<node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
<include file="$(find ccf_immersive_sorting)/launch/ceti-table_robot_main.launch" />
</launch>
launch/ceti-table_simulated_main_dummy_selector.launch deleted 100644 → 0
+ 0
− 4
View file @ 368c38b8
<launch>
<node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
<include file="$(find ccf_immersive_sorting)/launch/ceti-table_simulated_main.launch" />
</launch>
launch/ceti-table_dummy_main.launch → launch/dummy-cell_ads-table.launch
+ 6
− 6
View file @ 79f3e9fe
......@@ -3,10 +3,10 @@
<arg name="connection_address" default="tcp://*:6576"/>
<arg name="client_controllers" default="[]"/>
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti" output="screen" >
<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json" />
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
</node>
</launch>
launch/dummy-cell_ceti-table.launch 0 → 100644
+ 12
− 0
View file @ 79f3e9fe
<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node>
</launch>
launch/dummy-cell_st-table.launch 0 → 100644
+ 12
− 0
View file @ 79f3e9fe
<launch>
<arg name="connection_address" default="tcp://*:6576"/>
<arg name="client_controllers" default="[]"/>
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ads-cell" output="screen">
<param name="connection_address" type="string" value="$(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>
launch/dummy_main_dummy_client_dummy_selector.launch deleted 100644 → 0
+ 0
− 14
View file @ 368c38b8
<launch>
<node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="main_controller" output="screen">
<param name="connection_address" type="string" value="tcp://*:6576" />
<param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
</node>
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="client_controller" output="screen">
<param name="connection_address" type="string" value="tcp://*:6586" />
<param name="client_controllers" type="yaml" value="[]" />
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
</node>
</launch>
launch/dummy_main_dummy_selector.launch deleted 100644 → 0
+ 0
− 4
View file @ 368c38b8
<launch>
<node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
<include file="$(find ccf_immersive_sorting)/launch/dummy_main.launch" />
</launch>
launch/dummy_main_external_client.launch deleted 100644 → 0
+ 0
− 7
View file @ 368c38b8
<launch>
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="main_controller" output="screen">
<param name="connection_address" type="string" value="tcp://*:6576" />
<param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
</node>
</launch>
launch/dummy_main_simulated_client.launch deleted 100644 → 0
+ 0
− 14
View file @ 368c38b8
<launch>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="main_controller" output="screen">
<param name="connection_address" type="string" value="tcp://*:6576" />
<param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
</node>
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="client_controller" output="screen">
<param name="connection_address" type="string" value="tcp://*:6586" />
<param name="client_controllers" type="yaml" value="[]" />
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
</node>
</launch>
launch/ads-table_robot_main.launch → launch/robot-cell_ads-table.launch
+ 0
− 1
View file @ 79f3e9fe
<launch>
<arg name="robot_ip" default="172.31.1.13" />
<!-- <arg name="robot_ip" default="172.16.0.2" />-->
<arg name="load_gripper" default="true" />
<arg name="connection_address" default="tcp://*:6576" />
<arg name="client_controllers" default="[]" />
......
launch/ceti-table_robot_main.launch → launch/robot-cell_ceti-table.launch
+ 0
− 1
View file @ 79f3e9fe
<launch>
<arg name="robot_ip" default="172.31.1.13" />
<arg name="load_gripper" default="true" />
<arg name="connection_address" default="tcp://*:6576" />
......
launch/st-table_robot_main.launch → launch/robot-cell_st-table.launch
+ 0
− 1
View file @ 79f3e9fe
<launch>
<arg name="robot_ip" default="172.31.1.13" />
<arg name="load_gripper" default="true" />
<arg name="connection_address" default="tcp://*:6576" />
......
launch/robot_main.launch deleted 100644 → 0
+ 0
− 20
View file @ 368c38b8
<launch>
<arg name="robot_ip" default="172.31.1.13" />
<!-- <arg name="robot_ip" default="172.16.0.2" /> -->
<arg name="load_gripper" default="true" />
<arg name="connection_address" default="tcp://*:6576" />
<arg name="client_controllers" default="[]" />
<include file="$(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" >
<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="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
</node>
</launch>
launch/robot_main_dummy_selector.launch deleted 100644 → 0
+ 0
− 4
View file @ 368c38b8
<launch>
<node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
<include file="$(find ccf_immersive_sorting)/launch/robot_main.launch" />
</launch>
launch/dummy_main.launch → launch/simulated-cell_ads-table.launch
+ 4
− 2
View file @ 79f3e9fe
......@@ -3,10 +3,12 @@
<arg name="connection_address" default="tcp://*:6576" />
<arg name="client_controllers" default="[]" />
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="my_dummy_sorting_controller" output="screen">
<include file="$(find ccf)/launch/simulation_setup.launch"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
<param name="connection_address" type="string" value="$(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.yaml" />
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json" />
</node>
</launch>
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