Skip to content
Snippets Groups Projects
Commit b6a7d3ef authored by Sebastian Ebert's avatar Sebastian Ebert
Browse files

changes for new robots

parent f8bc5bca
Branches
No related tags found
No related merge requests found
...@@ -467,7 +467,7 @@ ...@@ -467,7 +467,7 @@
} }
}, },
{ {
"id": "arm2", "id": "arm1",
"type": "ARM", "type": "ARM",
"pos": { "pos": {
"z": 0.89, "z": 0.89,
......
...@@ -50,5 +50,5 @@ ...@@ -50,5 +50,5 @@
# formula (python) # 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)); # 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 } }
] } ] }
<launch> <launch>
<!-- MQTT server for communication with client cells --> <!-- 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"/> doc="address of the mqtt server for the connection to the controller"/>
<!-- robot IP used by the robot 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="$(find ccf)/launch/robot_setup.launch"> <include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/> <arg name="robot_ip" value="$(arg robot_ip)"/>
......
<launch> <launch>
<!-- MQTT server for communication with client cells --> <!-- 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"/> doc="address of the mqtt server for the connection to the controller"/>
<!-- robot IP used by the robot 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="$(find ccf)/launch/robot_setup.launch"> <include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/> <arg name="robot_ip" value="$(arg robot_ip)"/>
...@@ -13,7 +13,7 @@ ...@@ -13,7 +13,7 @@
</include> </include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen"> <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="$(arg mqtt_server)"/> <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-left.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-left.json"/>
</node> </node>
......
<launch> <launch>
<!-- MQTT server for communication with client cells --> <!-- 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"/> doc="address of the mqtt server for the connection to the controller"/>
<!-- robot IP used by the robot 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="$(find ccf)/launch/robot_setup.launch"> <include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/> <arg name="robot_ip" value="$(arg robot_ip)"/>
...@@ -13,7 +13,7 @@ ...@@ -13,7 +13,7 @@
</include> </include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen"> <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="$(arg mqtt_server)"/> <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-right.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-right.json"/>
</node> </node>
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment