diff --git a/config/config_scene_ads.yaml b/config/config_scene_ads.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fcd2f258057fb9738da9ef688c45db4b1fd9220d --- /dev/null +++ b/config/config_scene_ads.yaml @@ -0,0 +1,19 @@ +{ 'objects': [ + { 'id': 'tablePillar1','pos': { 'x': 0.625,'y': 0.82,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } }, + { 'id': 'tablePillar2','pos': { 'x': -0.215,'y': -0.82,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } }, + { 'id': 'tablePillar3','pos': { 'x': -0.215,'y': 0.82,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } }, + { 'id': 'tablePillar4','pos': { 'x': 0.625,'y': -0.82,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } }, + { 'id': 'table','pos': { 'x' : 0.205 ,'z': 0.7 },'size': { 'length': 0.9,'width': 1.7,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } }, + { 'id': 'binBlue','type': 'BIN','pos': { 'x': 0.34,'y': -0.65,'z': 0.8325 },'size': { 'length': 0.2,'width': 0.3,'height': 0.15 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, + { 'id': 'binRed','type': 'BIN','pos': { 'x': 0.06,'y': -0.65,'z': 0.8325 },'size': { 'length': 0.2,'width': 0.3,'height': 0.15 },'orientation': { 'w': 1 },'color': { 'r': 1 } }, + + { 'id': 'objectRed1','type': 'BOX','pos': { 'x': 0.5,'y': -0.1,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } }, + { 'id': 'objectRed2','type': 'BOX','pos': { 'x': 0.0, 'y' : 0.5,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } }, + + { 'id': 'objectGreen1','type': 'BOX','pos': { 'x': 0.1,'y': 0.6,'z': 0.8105 },'size': {'length':0.031,'width':0.062,'height':0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } }, + { 'id': 'objectGreen2','type': 'BOX','pos': { 'x': 0.45,'y': 0.2,'z': 0.8105 },'size': {'length':0.031,'width':0.031,'height':0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } }, + + { 'id': 'objectBlue1','type': 'BOX','pos': { 'x': 0.25,'y': -0.4,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } }, + { 'id': 'objectBlue2','type': 'BOX','pos': { 'x': 0.4,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } }, + { 'id': 'arm','type': 'ARM','pos': { 'z': 0.75 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } } +] } diff --git a/config/config_scene_st.yaml b/config/config_scene_st.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b6e5270b1ff9ceedc14116d8e8f93c3255fbac36 --- /dev/null +++ b/config/config_scene_st.yaml @@ -0,0 +1,19 @@ +{ 'objects': [ + { 'id': 'tablePillar1','pos': { 'x': 0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } }, + { 'id': 'tablePillar2','pos': { 'x': -0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } }, + { 'id': 'tablePillar3','pos': { 'x': -0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } }, + { 'id': 'tablePillar4','pos': { 'x': 0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } }, + { 'id': 'table','pos': { 'z': 0.7 },'size': { 'length': 1.6,'width': 1.6,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } }, + { 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.34,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, + { 'id': 'binRed','type': 'BIN','pos': { 'x': 0.06,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } }, + + { 'id': 'objectRed1','type': 'BOX','pos': { 'x': 0.5,'y': -0.1,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } }, + { 'id': 'objectRed2','type': 'BOX','pos': { 'x': -0.4,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } }, + + { 'id': 'objectGreen1','type': 'BOX','pos': { 'x': 0.45,'y': -0.3,'z': 0.8105 },'size': {'length':0.031,'width':0.062,'height':0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } }, + { 'id': 'objectGreen2','type': 'BOX','pos': { 'x': -0.45,'y': -0.2,'z': 0.8105 },'size': {'length':0.031,'width':0.031,'height':0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } }, + + { 'id': 'objectBlue1','type': 'BOX','pos': { 'x': 0.25,'y': -0.4,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } }, + { 'id': 'objectBlue2','type': 'BOX','pos': { 'x': 0.4,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } }, + { 'id': 'arm','type': 'ARM','pos': { 'z': 0.75 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } } +] } diff --git a/launch/dummy_main_external_client.launch b/launch/dummy_main_external_client.launch new file mode 100644 index 0000000000000000000000000000000000000000..ba77e8d92c3991baf3641435520742288cfc0f60 --- /dev/null +++ b/launch/dummy_main_external_client.launch @@ -0,0 +1,7 @@ +<launch> + <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="main_controller" output="screen"> + <param name="connection_address" type="string" value="tcp://*:6576" /> + <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" /> + <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" /> + </node> +</launch> diff --git a/launch/robot_main.launch b/launch/robot_main.launch index 6e3d21c290c5f5c2d567c12b8da1cb54247cd7ff..b47dfe09fe419be082afbf4e12994ab341a75c66 100644 --- a/launch/robot_main.launch +++ b/launch/robot_main.launch @@ -1,6 +1,7 @@ <launch> <arg name="robot_ip" default="172.31.1.13" /> + <!-- <arg name="robot_ip" default="172.16.0.2" /> --> <arg name="load_gripper" default="true" /> <arg name="connection_address" default="tcp://*:6576" /> <arg name="client_controllers" default="[]" /> @@ -10,9 +11,9 @@ <arg name="load_gripper" value="$(arg load_gripper)"/> </include> - <node pkg="ccf" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" > + <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" > <param name="connection_address" type="string" value="$(arg connection_address)" /> <param name="client_controllers" type="yaml" value="$(arg client_controllers)" /> </node> -</launch> \ No newline at end of file +</launch> diff --git a/launch/robot_main_dummy_selector.launch b/launch/robot_main_dummy_selector.launch index 24b14d344db918b95ad13edf36e1a402d2cd4ffe..5d3b444e018d9940688aaa3c604e1c0c8680eb4c 100644 --- a/launch/robot_main_dummy_selector.launch +++ b/launch/robot_main_dummy_selector.launch @@ -1,4 +1,4 @@ <launch> <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/> - <include file="robot_main.launch" /> + <include file="$(find ccf_immersive_sorting)/launch/robot_main.launch" /> </launch> diff --git a/launch/simulated_main.launch b/launch/simulated_main.launch index f80a829a5fbea30411102d483807ae0a71997b55..06c157280830d69e13b2655b4a18ef40948384da 100644 --- a/launch/simulated_main.launch +++ b/launch/simulated_main.launch @@ -5,7 +5,7 @@ <include file="$(find ccf)/launch/simulation_setup.launch"/> - <node pkg="ccf" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" > + <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" > <param name="connection_address" type="string" value="$(arg connection_address)" /> <param name="client_controllers" type="yaml" value="$(arg client_controllers)" /> </node> diff --git a/launch/simulated_main_dummy_selector.launch b/launch/simulated_main_dummy_selector.launch index b28af5eac0c78e00e2733dcbf4fe5953d1bdcfb8..e845cbb02e0bcc54606007611766c029f9edfc0e 100644 --- a/launch/simulated_main_dummy_selector.launch +++ b/launch/simulated_main_dummy_selector.launch @@ -1,4 +1,4 @@ <launch> <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/> - <include file="simulated_main.launch" /> + <include file="$(find ccf_immersive_sorting)/launch/simulated_main.launch" /> </launch> diff --git a/launch/simulated_main_external_client.launch b/launch/simulated_main_external_client.launch new file mode 100644 index 0000000000000000000000000000000000000000..1a22b53a6cfafb74bd1a6213b730bf447bb23df4 --- /dev/null +++ b/launch/simulated_main_external_client.launch @@ -0,0 +1,9 @@ +<launch> + <include file="$(find ccf)/launch/simulation_setup.launch"/> + + <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="main_controller" output="screen"> + <param name="connection_address" type="string" value="tcp://*:6576" /> + <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" /> + <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" /> + </node> +</launch>