change default node name for debug purposes

src/moveit_sorting_controller.cpp

@@ -18,7 +18,7 @@
 #include "ccf/connection/MqttConnection.h"
 #include "ccf/util/NodeUtil.h"
 
-std::string NODE_NAME = "ceti_cell_placeworld";
+std::string NODE_NAME = "ceti_cell_empty";
 
 using CetiRosToolbox::getParameter;
 using CetiRosToolbox::getPrivateParameter;
@@ -41,7 +41,7 @@ int main(int argc, char** argv)
   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"));
-  auto commandTopic = getParameter<std::string>(n, "topics/command", "/ceti_cell_placeworld/command");
+  auto commandTopic = getParameter<std::string>(n, "topics/command", NODE_NAME + "/command");
   mqtt_connection->listen(commandTopic);
   auto other_cell_topic = getPrivateParameter<std::string>("other_cell", "/ceti_cell_2_placeworld/scene/delta-update");
   mqtt_connection->listen(other_cell_topic);
@@ -76,20 +76,19 @@ int main(int argc, char** argv)
       });
 
   auto pick_place_callback = [&controller](const Command& command) {
-    const PickAndPlace& pick_place = command.pickandplace();
     if (command.has_pickandplace())
     {
       ROS_INFO_STREAM("[COMMAND] for robot " << pick_place.idrobot() << ": Pick object " << pick_place.idpick() << " and place it at " << pick_place.idplace());
       Object* pick_object = controller.resolveObject(pick_place.idpick());
       if (!pick_object)
       {
-        ROS_ERROR_STREAM("[COMMAND] FAILED! Selected unknown pick object '" << pick_place.idpick() << "'");
+        ROS_ERROR_STREAM("[COMMAND] FAILED! Selected unknown pick object '" << command.pickandplace().idpick() << "'");
         return;
       }
-      Object* place_object = controller.resolveObject(pick_place.idplace());
+      Object* place_object = controller.resolveObject(command.pickandplace().idplace());
       if (!place_object)
       {
-        ROS_ERROR_STREAM("[COMMAND] FAILED! Selected unknown place object '" << pick_place.idplace() << "'");
+        ROS_ERROR_STREAM("[COMMAND] FAILED! Selected unknown place object '" << command.pickandplace().idplace() << "'");
         return;
       }
       if (pick_object->type() != Object::BOX)
@@ -119,11 +118,11 @@ int main(int argc, char** argv)
       {
         if (!controller.pickAndDrop(*robot, *pick_object, *place_object, false))
         {
-          ROS_WARN_STREAM("[COMMAND] FAILED! Unable to remove box '" << pick_place.idpick() << "'!");
+          ROS_WARN_STREAM("[COMMAND] FAILED! Unable to remove box '" << command.pickandplace().idpick() << "'!");
         }
         else
         {
-          ROS_INFO_STREAM("[COMMAND] SUCCESS! '" << pick_place.idpick() << "' is no more.");
+          ROS_INFO_STREAM("[COMMAND] SUCCESS! '" << command.pickandplace().idpick() << "' is no more.");
           controller.sendScene();
         }
       }
@@ -131,11 +130,11 @@ int main(int argc, char** argv)
       {
         if (!controller.pickAndPlace(*robot, *pick_object, *place_object, false))
         {
-          ROS_WARN_STREAM("[COMMAND] FAILED! Unable to move box '" << pick_place.idpick() << "'!");
+          ROS_WARN_STREAM("[COMMAND] FAILED! Unable to move box '" << command.pickandplace().idpick() << "'!");
         }
         else
         {
-          ROS_INFO_STREAM("[COMMAND] SUCCESS! " << pick_place.idpick() << "' is at its new location.");
+          ROS_INFO_STREAM("[COMMAND] SUCCESS! " << command.pickandplace().idpick() << "' is at its new location.");
           controller.sendScene();
         }
       }