From b6a7d3ef6e488f2cf227aef3a3499e9670cbaf36 Mon Sep 17 00:00:00 2001 From: SebastianEbert <sebastian.ebert@tu-dresden.de> Date: Tue, 5 Mar 2024 13:44:02 +0100 Subject: [PATCH] changes for new robots --- config/config_scene_dineros-right.json | 2 +- config/config_scene_dineros-right.yaml | 2 +- launch/cell-controllers/robot-cell_ceti-table-1.launch | 4 ++-- launch/cell-controllers/robot-cell_dineros-left.launch | 6 +++--- launch/cell-controllers/robot-cell_dineros-right.launch | 6 +++--- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/config/config_scene_dineros-right.json b/config/config_scene_dineros-right.json index 8add430..f54d0fd 100644 --- a/config/config_scene_dineros-right.json +++ b/config/config_scene_dineros-right.json @@ -467,7 +467,7 @@ } }, { - "id": "arm2", + "id": "arm1", "type": "ARM", "pos": { "z": 0.89, diff --git a/config/config_scene_dineros-right.yaml b/config/config_scene_dineros-right.yaml index 943627a..e910863 100644 --- a/config/config_scene_dineros-right.yaml +++ b/config/config_scene_dineros-right.yaml @@ -50,5 +50,5 @@ # formula (python) # for i in range(3,10): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0.3,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+8900)/10000, (i*96+46)/10000)); - { 'id': 'arm2','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } } + { 'id': 'arm1','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } } ] } diff --git a/launch/cell-controllers/robot-cell_ceti-table-1.launch b/launch/cell-controllers/robot-cell_ceti-table-1.launch index 6687656..9a1c1ee 100644 --- a/launch/cell-controllers/robot-cell_ceti-table-1.launch +++ b/launch/cell-controllers/robot-cell_ceti-table-1.launch @@ -1,11 +1,11 @@ <launch> <!-- MQTT server for communication with client cells --> - <arg name="mqtt_server" default="tcp://192.168.0.122:1883" + <arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/> <!-- robot IP used by the robot controller --> - <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/> + <arg name="robot_ip" default="172.31.1.17" doc="ip address if the robot"/> <include file="$(find ccf)/launch/robot_setup.launch"> <arg name="robot_ip" value="$(arg robot_ip)"/> diff --git a/launch/cell-controllers/robot-cell_dineros-left.launch b/launch/cell-controllers/robot-cell_dineros-left.launch index e9de741..2300fe6 100644 --- a/launch/cell-controllers/robot-cell_dineros-left.launch +++ b/launch/cell-controllers/robot-cell_dineros-left.launch @@ -1,11 +1,11 @@ <launch> <!-- MQTT server for communication with client cells --> - <arg name="mqtt_server" default="tcp://192.168.0.122:1883" + <arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/> <!-- robot IP used by the robot controller --> - <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/> + <arg name="robot_ip" default="172.31.1.17" doc="ip address if the robot"/> <include file="$(find ccf)/launch/robot_setup.launch"> <arg name="robot_ip" value="$(arg robot_ip)"/> @@ -13,7 +13,7 @@ </include> <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen"> - <param name="arm" type="string" value="arm"/> + <param name="arm" type="string" value="arm1"/> <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-left.json"/> </node> diff --git a/launch/cell-controllers/robot-cell_dineros-right.launch b/launch/cell-controllers/robot-cell_dineros-right.launch index f7a1602..06afd80 100644 --- a/launch/cell-controllers/robot-cell_dineros-right.launch +++ b/launch/cell-controllers/robot-cell_dineros-right.launch @@ -1,11 +1,11 @@ <launch> <!-- MQTT server for communication with client cells --> - <arg name="mqtt_server" default="tcp://192.168.0.122:1883" + <arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/> <!-- robot IP used by the robot controller --> - <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/> + <arg name="robot_ip" default="172.31.1.17" doc="ip address if the robot"/> <include file="$(find ccf)/launch/robot_setup.launch"> <arg name="robot_ip" value="$(arg robot_ip)"/> @@ -13,7 +13,7 @@ </include> <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen"> - <param name="arm" type="string" value="arm"/> + <param name="arm" type="string" value="arm1"/> <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-right.json"/> </node> -- GitLab