From ae6e1a263f118354a4eac9adc5b02ef093d9fc62 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Fri, 15 Jul 2022 16:28:24 +0200
Subject: [PATCH] change default node name for debug purposes
---
src/moveit_sorting_controller.cpp | 19 +++++++++----------
1 file changed, 9 insertions(+), 10 deletions(-)
diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp
index 9283b92..826b4f6 100644
--- a/src/moveit_sorting_controller.cpp
+++ b/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();
}
}
--
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