From b3c89a95fa44cb0ee2d21469efef1337fd2b26a3 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Thu, 10 Mar 2022 19:29:06 +0100
Subject: [PATCH] update launch files

---
 ...i-table_preview_ceti-table_real_robot.launch} | 16 ++++++++++------
 ..._virtual_preview_ceti-table_real_robot.launch | 16 ++++++++++------
 launch/robot-cell_ads-table.launch               | 13 ++++++++-----
 launch/robot-cell_ceti-table.launch              | 11 +++++++----
 launch/robot-cell_st-table.launch                | 11 +++++++----
 src/dummy_sorting_controller.cpp                 |  2 --
 src/moveit_sorting_controller.cpp                |  2 --
 7 files changed, 42 insertions(+), 29 deletions(-)
 rename launch/{main_controller_ceti-table_real_robot.launch => main_controller_ceti-table_preview_ceti-table_real_robot.launch} (70%)

diff --git a/launch/main_controller_ceti-table_real_robot.launch b/launch/main_controller_ceti-table_preview_ceti-table_real_robot.launch
similarity index 70%
rename from launch/main_controller_ceti-table_real_robot.launch
rename to launch/main_controller_ceti-table_preview_ceti-table_real_robot.launch
index 48f5ae1..f0d95f6 100644
--- a/launch/main_controller_ceti-table_real_robot.launch
+++ b/launch/main_controller_ceti-table_preview_ceti-table_real_robot.launch
@@ -1,10 +1,16 @@
 <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>
 
diff --git a/launch/main_controller_virtual_preview_ceti-table_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table_real_robot.launch
index fd27616..f95bcc4 100644
--- a/launch/main_controller_virtual_preview_ceti-table_real_robot.launch
+++ b/launch/main_controller_virtual_preview_ceti-table_real_robot.launch
@@ -1,10 +1,16 @@
 <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>
 
diff --git a/launch/robot-cell_ads-table.launch b/launch/robot-cell_ads-table.launch
index b57fc69..d8d42f7 100644
--- a/launch/robot-cell_ads-table.launch
+++ b/launch/robot-cell_ads-table.launch
@@ -1,15 +1,18 @@
 <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>
 
diff --git a/launch/robot-cell_ceti-table.launch b/launch/robot-cell_ceti-table.launch
index 2c9faac..f36b581 100644
--- a/launch/robot-cell_ceti-table.launch
+++ b/launch/robot-cell_ceti-table.launch
@@ -1,15 +1,18 @@
 <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>
 
diff --git a/launch/robot-cell_st-table.launch b/launch/robot-cell_st-table.launch
index b046714..aa45015 100644
--- a/launch/robot-cell_st-table.launch
+++ b/launch/robot-cell_st-table.launch
@@ -1,15 +1,18 @@
 <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>
 
diff --git a/src/dummy_sorting_controller.cpp b/src/dummy_sorting_controller.cpp
index 4cbf7aa..3e595d5 100644
--- a/src/dummy_sorting_controller.cpp
+++ b/src/dummy_sorting_controller.cpp
@@ -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");
diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp
index bfd02b2..594181e 100644
--- a/src/moveit_sorting_controller.cpp
+++ b/src/moveit_sorting_controller.cpp
@@ -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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