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"); -- GitLab