From 79f3e9fe7749509701dbb42a9f46e1800f5b7459 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 22 Dec 2021 16:05:05 +0100
Subject: [PATCH] rename launch files and remove outdated config file
---
config/config_scene.yaml | 20 -------------------
...eti-table_robot_main_dummy_selector.launch | 4 ----
...table_simulated_main_dummy_selector.launch | 4 ----
...ain.launch => dummy-cell_ads-table.launch} | 12 +++++------
launch/dummy-cell_ceti-table.launch | 12 +++++++++++
launch/dummy-cell_st-table.launch | 12 +++++++++++
...my_main_dummy_client_dummy_selector.launch | 14 -------------
launch/dummy_main_dummy_selector.launch | 4 ----
launch/dummy_main_external_client.launch | 7 -------
launch/dummy_main_simulated_client.launch | 14 -------------
...h => main_controller_virtual-table.launch} | 0
...aunch => random_selector_automatic.launch} | 0
...l.launch => random_selector_manual.launch} | 0
...ain.launch => robot-cell_ads-table.launch} | 1 -
...in.launch => robot-cell_ceti-table.launch} | 1 -
...main.launch => robot-cell_st-table.launch} | 1 -
launch/robot_main.launch | 20 -------------------
launch/robot_main_dummy_selector.launch | 4 ----
...launch => simulated-cell_ads-table.launch} | 6 ++++--
...aunch => simulated-cell_ceti-table.launch} | 0
....launch => simulated-cell_st-table.launch} | 2 +-
launch/simulated_main_dummy_client.launch | 14 -------------
launch/simulated_main_dummy_selector.launch | 4 ----
launch/simulated_main_external_client.launch | 9 ---------
src/dummy_sorting_controller.cpp | 2 +-
src/main_controller.cpp | 2 +-
src/moveit_sorting_controller.cpp | 2 +-
27 files changed, 38 insertions(+), 133 deletions(-)
delete mode 100644 config/config_scene.yaml
delete mode 100644 launch/ceti-table_robot_main_dummy_selector.launch
delete mode 100644 launch/ceti-table_simulated_main_dummy_selector.launch
rename launch/{ceti-table_dummy_main.launch => dummy-cell_ads-table.launch} (53%)
create mode 100644 launch/dummy-cell_ceti-table.launch
create mode 100644 launch/dummy-cell_st-table.launch
delete mode 100644 launch/dummy_main_dummy_client_dummy_selector.launch
delete mode 100644 launch/dummy_main_dummy_selector.launch
delete mode 100644 launch/dummy_main_external_client.launch
delete mode 100644 launch/dummy_main_simulated_client.launch
rename launch/{virtual-table_main_controller.launch => main_controller_virtual-table.launch} (100%)
rename launch/{dummy_selector.launch => random_selector_automatic.launch} (100%)
rename launch/{dummy_selector_manual.launch => random_selector_manual.launch} (100%)
rename launch/{ads-table_robot_main.launch => robot-cell_ads-table.launch} (93%)
rename launch/{ceti-table_robot_main.launch => robot-cell_ceti-table.launch} (99%)
rename launch/{st-table_robot_main.launch => robot-cell_st-table.launch} (99%)
delete mode 100644 launch/robot_main.launch
delete mode 100644 launch/robot_main_dummy_selector.launch
rename launch/{dummy_main.launch => simulated-cell_ads-table.launch} (60%)
rename launch/{ceti-table_simulated_main.launch => simulated-cell_ceti-table.launch} (100%)
rename launch/{simulated_main.launch => simulated-cell_st-table.launch} (91%)
delete mode 100644 launch/simulated_main_dummy_client.launch
delete mode 100644 launch/simulated_main_dummy_selector.launch
delete mode 100644 launch/simulated_main_external_client.launch
diff --git a/config/config_scene.yaml b/config/config_scene.yaml
deleted file mode 100644
index 6522ef9..0000000
--- a/config/config_scene.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-{ '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 } }
-] }
diff --git a/launch/ceti-table_robot_main_dummy_selector.launch b/launch/ceti-table_robot_main_dummy_selector.launch
deleted file mode 100644
index ae39980..0000000
--- a/launch/ceti-table_robot_main_dummy_selector.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <include file="$(find ccf_immersive_sorting)/launch/ceti-table_robot_main.launch" />
-</launch>
diff --git a/launch/ceti-table_simulated_main_dummy_selector.launch b/launch/ceti-table_simulated_main_dummy_selector.launch
deleted file mode 100644
index 6ce6439..0000000
--- a/launch/ceti-table_simulated_main_dummy_selector.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <include file="$(find ccf_immersive_sorting)/launch/ceti-table_simulated_main.launch" />
-</launch>
diff --git a/launch/ceti-table_dummy_main.launch b/launch/dummy-cell_ads-table.launch
similarity index 53%
rename from launch/ceti-table_dummy_main.launch
rename to launch/dummy-cell_ads-table.launch
index 59e4ca2..09cebe0 100644
--- a/launch/ceti-table_dummy_main.launch
+++ b/launch/dummy-cell_ads-table.launch
@@ -1,12 +1,12 @@
<launch>
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
+ <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" >
- <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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json" />
+ <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti-cell" output="screen">
+ <param name="connection_address" type="string" value="$(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_ads-table.json"/>
</node>
</launch>
diff --git a/launch/dummy-cell_ceti-table.launch b/launch/dummy-cell_ceti-table.launch
new file mode 100644
index 0000000..81a4e20
--- /dev/null
+++ b/launch/dummy-cell_ceti-table.launch
@@ -0,0 +1,12 @@
+<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
+ </node>
+
+</launch>
diff --git a/launch/dummy-cell_st-table.launch b/launch/dummy-cell_st-table.launch
new file mode 100644
index 0000000..4b52ad0
--- /dev/null
+++ b/launch/dummy-cell_st-table.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="[]"/>
+
+ <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ads-cell" output="screen">
+ <param name="connection_address" type="string" value="$(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>
diff --git a/launch/dummy_main_dummy_client_dummy_selector.launch b/launch/dummy_main_dummy_client_dummy_selector.launch
deleted file mode 100644
index 521c5d5..0000000
--- a/launch/dummy_main_dummy_client_dummy_selector.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<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>
diff --git a/launch/dummy_main_dummy_selector.launch b/launch/dummy_main_dummy_selector.launch
deleted file mode 100644
index 7a0511a..0000000
--- a/launch/dummy_main_dummy_selector.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <include file="$(find ccf_immersive_sorting)/launch/dummy_main.launch" />
-</launch>
diff --git a/launch/dummy_main_external_client.launch b/launch/dummy_main_external_client.launch
deleted file mode 100644
index ba77e8d..0000000
--- a/launch/dummy_main_external_client.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="main_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6576" />
- <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
-</launch>
diff --git a/launch/dummy_main_simulated_client.launch b/launch/dummy_main_simulated_client.launch
deleted file mode 100644
index 54fa35a..0000000
--- a/launch/dummy_main_simulated_client.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<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>
diff --git a/launch/virtual-table_main_controller.launch b/launch/main_controller_virtual-table.launch
similarity index 100%
rename from launch/virtual-table_main_controller.launch
rename to launch/main_controller_virtual-table.launch
diff --git a/launch/dummy_selector.launch b/launch/random_selector_automatic.launch
similarity index 100%
rename from launch/dummy_selector.launch
rename to launch/random_selector_automatic.launch
diff --git a/launch/dummy_selector_manual.launch b/launch/random_selector_manual.launch
similarity index 100%
rename from launch/dummy_selector_manual.launch
rename to launch/random_selector_manual.launch
diff --git a/launch/ads-table_robot_main.launch b/launch/robot-cell_ads-table.launch
similarity index 93%
rename from launch/ads-table_robot_main.launch
rename to launch/robot-cell_ads-table.launch
index af39594..a329b02 100644
--- a/launch/ads-table_robot_main.launch
+++ b/launch/robot-cell_ads-table.launch
@@ -1,6 +1,5 @@
<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="[]" />
diff --git a/launch/ceti-table_robot_main.launch b/launch/robot-cell_ceti-table.launch
similarity index 99%
rename from launch/ceti-table_robot_main.launch
rename to launch/robot-cell_ceti-table.launch
index 3c974b4..9d94e42 100644
--- a/launch/ceti-table_robot_main.launch
+++ b/launch/robot-cell_ceti-table.launch
@@ -1,5 +1,4 @@
<launch>
-
<arg name="robot_ip" default="172.31.1.13" />
<arg name="load_gripper" default="true" />
<arg name="connection_address" default="tcp://*:6576" />
diff --git a/launch/st-table_robot_main.launch b/launch/robot-cell_st-table.launch
similarity index 99%
rename from launch/st-table_robot_main.launch
rename to launch/robot-cell_st-table.launch
index 0f2b318..558a4ba 100644
--- a/launch/st-table_robot_main.launch
+++ b/launch/robot-cell_st-table.launch
@@ -1,5 +1,4 @@
<launch>
-
<arg name="robot_ip" default="172.31.1.13" />
<arg name="load_gripper" default="true" />
<arg name="connection_address" default="tcp://*:6576" />
diff --git a/launch/robot_main.launch b/launch/robot_main.launch
deleted file mode 100644
index a1fa771..0000000
--- a/launch/robot_main.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<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="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
-
-</launch>
diff --git a/launch/robot_main_dummy_selector.launch b/launch/robot_main_dummy_selector.launch
deleted file mode 100644
index 5d3b444..0000000
--- a/launch/robot_main_dummy_selector.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <include file="$(find ccf_immersive_sorting)/launch/robot_main.launch" />
-</launch>
diff --git a/launch/dummy_main.launch b/launch/simulated-cell_ads-table.launch
similarity index 60%
rename from launch/dummy_main.launch
rename to launch/simulated-cell_ads-table.launch
index 9ab8eaf..8e26a69 100644
--- a/launch/dummy_main.launch
+++ b/launch/simulated-cell_ads-table.launch
@@ -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="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json" />
</node>
</launch>
diff --git a/launch/ceti-table_simulated_main.launch b/launch/simulated-cell_ceti-table.launch
similarity index 100%
rename from launch/ceti-table_simulated_main.launch
rename to launch/simulated-cell_ceti-table.launch
diff --git a/launch/simulated_main.launch b/launch/simulated-cell_st-table.launch
similarity index 91%
rename from launch/simulated_main.launch
rename to launch/simulated-cell_st-table.launch
index afb6dc2..3a0cebf 100644
--- a/launch/simulated_main.launch
+++ b/launch/simulated-cell_st-table.launch
@@ -8,7 +8,7 @@
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
<param name="connection_address" type="string" value="$(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="$(find ccf_immersive_sorting)/config/config_scene_st-table.json" />
</node>
</launch>
diff --git a/launch/simulated_main_dummy_client.launch b/launch/simulated_main_dummy_client.launch
deleted file mode 100644
index f319995..0000000
--- a/launch/simulated_main_dummy_client.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
- <include file="$(find ccf)/launch/simulation_setup.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="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="client_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6586" />
- <param name="client_controllers" type="yaml" value="[]" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
-</launch>
diff --git a/launch/simulated_main_dummy_selector.launch b/launch/simulated_main_dummy_selector.launch
deleted file mode 100644
index e845cbb..0000000
--- a/launch/simulated_main_dummy_selector.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <include file="$(find ccf_immersive_sorting)/launch/simulated_main.launch" />
-</launch>
diff --git a/launch/simulated_main_external_client.launch b/launch/simulated_main_external_client.launch
deleted file mode 100644
index 1a22b53..0000000
--- a/launch/simulated_main_external_client.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-<launch>
- <include file="$(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>
-</launch>
diff --git a/src/dummy_sorting_controller.cpp b/src/dummy_sorting_controller.cpp
index 0e06b14..fcf5a5f 100644
--- a/src/dummy_sorting_controller.cpp
+++ b/src/dummy_sorting_controller.cpp
@@ -52,7 +52,7 @@ int main(int argc, char **argv) {
ros::WallDuration(5).sleep(); // wait 5 secs to init scene (to give moveit time to load)
connector.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") +
- "/config/config_scene.yaml"));
+ "/config/config_scene_st-table.json"));
Object *robot = nullptr;
Object *selectedBox = nullptr;
diff --git a/src/main_controller.cpp b/src/main_controller.cpp
index ba9a076..c38d0f8 100644
--- a/src/main_controller.cpp
+++ b/src/main_controller.cpp
@@ -71,7 +71,7 @@ int main(int argc, char **argv) {
}
connector.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") +
- "/config/config_scene.yaml"));
+ "/config/config_scene_st-table.json"));
Object *robot = nullptr;
Object *selectedBox = nullptr;
diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp
index 28863b4..5da3500 100644
--- a/src/moveit_sorting_controller.cpp
+++ b/src/moveit_sorting_controller.cpp
@@ -50,7 +50,7 @@ int main(int argc, char **argv) {
ros::WallDuration(5).sleep(); // wait 5 secs to init scene (to give moveit time to load)
connector.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") +
- "/config/config_scene.yaml"));
+ "/config/config_scene_st-table.json"));
Object *robot = nullptr;
Object *selectedBox = nullptr;
--
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