diff --git a/launch/main_controller_ceti-table_real_robot.launch b/launch/main_controller_ceti-table_real_robot.launch new file mode 100644 index 0000000000000000000000000000000000000000..48f5ae1ca7abba07235723f5ae8c27c0e33c1934 --- /dev/null +++ b/launch/main_controller_ceti-table_real_robot.launch @@ -0,0 +1,28 @@ +<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/> + </node> + +</launch> diff --git a/launch/main_controller_virtual_preview_ceti-table_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table_real_robot.launch new file mode 100644 index 0000000000000000000000000000000000000000..fd2761672a701acb7425f790d330deecacdd24ca --- /dev/null +++ b/launch/main_controller_virtual_preview_ceti-table_real_robot.launch @@ -0,0 +1,28 @@ +<launch> + + <arg name="connection_address" default="tcp://*:6576"/> + <arg name="mqtt_server" default="tcp://127.0.0.1:1883"/> + <arg name="client_controllers" default="['ceti_cell']"/> + <arg name="robot_ip" default="172.31.1.13"/> + <arg name="load_gripper" default="true"/> + + <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen"> + <param name="connection_address" type="string" value="$(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>