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Commit b3c89a95 authored by Johannes Mey's avatar Johannes Mey
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update launch files

parent bc0f0a7b
Branches kinetic
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with 42 additions and 29 deletions
launch/main_controller_ceti-table_real_robot.launch → launch/main_controller_ceti-table_preview_ceti-table_real_robot.launch
+ 10
− 6
View file @ b3c89a95
<launch>
<!-- connection address for NNG scene-based selection -->
<arg name="connection_address" default="tcp://*:6576"/>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://127.0.0.1:1883"/>
<arg name="client_controllers" default="['ceti_cell']"/>
<!-- remove cell st cell if it is not available -->
<arg name="client_controllers" default="['ceti_cell', 'st_cell', 'ads_cell']"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13"/>
<arg name="load_gripper" default="true"/>
<node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
......@@ -13,15 +19,13 @@
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node>
<include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="$(arg load_gripper)"/>
<arg name="load_gripper" value="true"/>
</include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node>
......
launch/main_controller_virtual_preview_ceti-table_real_robot.launch
+ 10
− 6
View file @ b3c89a95
<launch>
<!-- connection address for NNG scene-based selection -->
<arg name="connection_address" default="tcp://*:6576"/>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://127.0.0.1:1883"/>
<arg name="client_controllers" default="['ceti_cell']"/>
<!-- remove cell st cell if it is not available -->
<arg name="client_controllers" default="['ceti_cell', 'st_cell', 'ads_cell']"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13"/>
<arg name="load_gripper" default="true"/>
<node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
......@@ -13,15 +19,13 @@
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_virtual-table.json"/>
</node>
<include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="$(arg load_gripper)"/>
<arg name="load_gripper" value="true"/>
</include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node>
......
launch/robot-cell_ads-table.launch
+ 8
− 5
View file @ b3c89a95
<launch>
<arg name="robot_ip" default="172.31.1.13"/>
<arg name="load_gripper" default="true"/>
<arg name="connection_address" default="tcp://*:6576"/>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://192.168.0.122:1883"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.16.0.2"/>
<include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="$(arg load_gripper)"/>
<arg name="load_gripper" value="true"/>
</include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads_cell" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
</node>
......
launch/robot-cell_ceti-table.launch
+ 7
− 4
View file @ b3c89a95
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://192.168.0.122:1883"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13"/>
<arg name="load_gripper" default="true"/>
<arg name="connection_address" default="tcp://*:6576"/>
<include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="$(arg load_gripper)"/>
<arg name="load_gripper" value="true"/>
</include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node>
......
launch/robot-cell_st-table.launch
+ 7
− 4
View file @ b3c89a95
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://192.168.0.122:1883"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13"/>
<arg name="load_gripper" default="true"/>
<arg name="connection_address" default="tcp://*:6576"/>
<include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="$(arg load_gripper)"/>
<arg name="load_gripper" value="true"/>
</include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st_cell" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
</node>
......
src/dummy_sorting_controller.cpp
+ 0
− 2
View file @ b3c89a95
......@@ -33,8 +33,6 @@ int main(int argc, char **argv)
ros::NodeHandle n("connector_node_ros_ccf"); // namespace where the connection_address is
auto connectionAddress = getPrivateParameter<std::string>("connection_address", "tcp://*:6576");
DummyRobotArmController controller{n, NODE_NAME};
auto mqttServer = getPrivateParameter<std::string>("mqtt_server", "localhost:1883");
......
src/moveit_sorting_controller.cpp
+ 0
− 2
View file @ b3c89a95
......@@ -33,8 +33,6 @@ int main(int argc, char **argv)
ros::NodeHandle n("connector_node_ros_ccf"); // namespace where the connection_address is
auto connectionAddress = getPrivateParameter<std::string>("connection_address", "tcp://*:6576");
MoveItRobotArmController controller{n, NODE_NAME};
auto mqttServer = getPrivateParameter<std::string>("mqtt_server", "localhost:1883");
......
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