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Commit bc0f0a7b authored by Johannes Mey's avatar Johannes Mey
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add two launch files for one-robot CCNC demo version

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launch/main_controller_ceti-table_real_robot.launch 0 → 100644
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View file @ bc0f0a7b
<launch>
<arg name="connection_address" default="tcp://*:6576"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883"/>
<arg name="client_controllers" default="['ceti_cell']"/>
<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="$(arg connection_address)"/>
<param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
<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>
<include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="$(arg load_gripper)"/>
</include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node>
</launch>
launch/main_controller_virtual_preview_ceti-table_real_robot.launch 0 → 100644
+ 28
− 0
View file @ bc0f0a7b
<launch>
<arg name="connection_address" default="tcp://*:6576"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883"/>
<arg name="client_controllers" default="['ceti_cell']"/>
<arg name="robot_ip" default="172.31.1.13"/>
<arg name="load_gripper" default="true"/>
<node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<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)"/>
</include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node>
</launch>
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