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Commit d62a0188 authored by Johannes Mey's avatar Johannes Mey
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split ceti table config, update launch files

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config/config_scene_ceti-table.yaml → config/config_scene_ceti-table-1.yaml
+ 1
− 1
View file @ d62a0188
# create json file using # create json file using
# yq eval -o=json config_scene_ceti-table.yaml > config_scene_ceti-table.json # yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.json
{ 'objects': [ { 'objects': [
# table # table
# height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
......
config/config_scene_ceti-table-2.json 0 → 100644
+ 428
− 0
View file @ d62a0188
{
"objects": [
{
"id": "wheel_1",
"pos": {
"x": 0.28,
"y": 0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "wheel_2",
"pos": {
"x": -0.28,
"y": -0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "wheel_3",
"pos": {
"x": -0.28,
"y": 0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "wheel_4",
"pos": {
"x": 0.28,
"y": -0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table_body_front",
"pos": {
"x": 0.345,
"z": 0.5
},
"size": {
"length": 0.005,
"width": 0.69,
"height": 0.76
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table_body_back",
"pos": {
"x": -0.345,
"z": 0.45
},
"size": {
"length": 0.005,
"width": 0.69,
"height": 0.66
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table_body_left",
"pos": {
"y": 0.345,
"z": 0.5
},
"size": {
"length": 0.69,
"width": 0.005,
"height": 0.76
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table_body_right",
"pos": {
"y": -0.345,
"z": 0.5
},
"size": {
"length": 0.69,
"width": 0.005,
"height": 0.76
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table-top",
"pos": {
"z": 0.885
},
"size": {
"length": 0.8,
"width": 0.8,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "left_panel",
"pos": {
"z": 0.885,
"y": -0.6525
},
"size": {
"length": 0.7,
"width": 0.5,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "right_panel",
"pos": {
"z": 0.885,
"y": 0.6525
},
"size": {
"length": 0.7,
"width": 0.5,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "binBlue",
"type": "BIN",
"pos": {
"x": -0.23,
"y": 0.67,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"b": 1
}
},
{
"id": "binRed",
"type": "BIN",
"pos": {
"x": -0.23,
"y": 0.49,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 1
}
},
{
"id": "binGreen",
"type": "BIN",
"pos": {
"x": -0.23,
"y": -0.49,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"g": 1
}
},
{
"id": "bigYellow",
"type": "BOX",
"pos": {
"x": 0.1,
"y": -0.25,
"z": 0.9403
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.1006
},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1
}
},
{
"id": "bigGreen",
"type": "BOX",
"pos": {
"x": 0.1,
"y": 0.3,
"z": 0.9403
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.1006
},
"orientation": {
"w": 1
},
"color": {
"g": 1
}
},
{
"id": "bigBlue",
"type": "BOX",
"pos": {
"x": 0.2,
"y": -0.1,
"z": 0.9355
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.091
},
"orientation": {
"z": 0.7071068,
"w": 0.7071068
},
"color": {
"b": 1
}
},
{
"id": "bigRed",
"type": "BOX",
"pos": {
"x": 0.15,
"y": 0.1,
"z": 0.9355
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.091
},
"orientation": {
"z": 0.7071068,
"w": 0.7071068
},
"color": {
"r": 1
}
},
{
"id": "smallRed",
"type": "BOX",
"pos": {
"x": 0.3,
"y": -0.25,
"z": 0.9307
},
"size": {
"length": 0.0318,
"width": 0.0318,
"height": 0.0814
},
"orientation": {
"w": 1
},
"color": {
"r": 1
}
},
{
"id": "smallYellow",
"type": "BOX",
"pos": {
"x": 0.25,
"y": 0.25,
"z": 0.9211
},
"size": {
"length": 0.0318,
"width": 0.0318,
"height": 0.0622
},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1
}
},
{
"id": "arm",
"type": "ARM",
"pos": {
"z": 0.89,
"x": -0.22
},
"size": {},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1,
"b": 1
}
}
]
}
config/config_scene_ceti-table-2.yaml 0 → 100644
+ 50
− 0
View file @ d62a0188
# create json file using
# yq eval -o=json config_scene_ceti-table-2.yaml > config_scene_ceti-table-2.json
{ 'objects': [
# table
# height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
# wheels width/depth/height 12*12*12
# body width/depth/height 69*69*76
# table-top width/depth/height 80*80*1
# panels are 50*70, with 0.5 cm distance to the table-top
# height of both is 12 + 76 + .5 = 88.5
# their centre is at 40 + 0.25 + 25 = 65.25
{ 'id': 'wheel_1','pos': { 'x': 0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_2','pos': { 'x': -0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_3','pos': { 'x': -0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_4','pos': { 'x': 0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# a filled table and a backplate going all the way up is not possible, because of the oversized collision model of the robot
# { 'id': 'table_body','pos': { 'z': 0.50 },'size': { 'length': .69,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body_front','pos': { 'x': .345, 'z': 0.50 },'size': { 'length': 0.005,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body_back', 'pos': { 'x': -.345, 'z': 0.45 },'size': { 'length': 0.005,'width': 0.69,'height': 0.66 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body_left', 'pos': { 'y': .345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body_right','pos': { 'y': -.345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table-top', 'pos': { 'z': 0.885 },'size': { 'length': 0.8,'width': 0.8,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'left_panel', 'pos': { 'z': 0.885, 'y': -0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'right_panel', 'pos': { 'z': 0.885, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# { 'id': 'front_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# bins width/depth/height
# their height is .89 + 0.0525 = 0.9425 m
# the width is 31.8 or 63.6
# if they stand on a panel edge, they stand at 40 + 0.5 + 8.5 = 49 and 49 + 1 + 17 = 67
# their x location is 12 - 35 = -23
{ 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed', 'type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'binGreen','type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
{ 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
{ 'id': 'bigGreen' ,'type': 'BOX','pos': { 'x': 0.10,'y': 0.30,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
{ 'id': 'bigBlue' ,'type': 'BOX','pos': { 'x': 0.20,'y': -0.10,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'z': 0.7071068, 'w':0.7071068 },'color': { 'b': 1 } },
{ 'id': 'bigRed' ,'type': 'BOX','pos': { 'x': 0.15,'y': 0.10,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'z': 0.7071068, 'w':0.7071068 },'color': { 'r': 1 } },
{ 'id': 'smallRed','type': 'BOX','pos': { 'x': 0.30,'y': -0.25,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.25,'y': 0.25,'z': 0.921100 },'size': { 'length': .0318, 'width': .0318,'height': 0.062200 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
# heights of objects (including pins):
# formula: half-height * 9.6 + 4.6
# 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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
launch/dummy-cell_ceti-table.launch → launch/dummy-cell_ceti-table-1.launch
+ 1
− 1
View file @ d62a0188
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<arg name="connection_address" default="tcp://*:6576"/> <arg name="connection_address" default="tcp://*:6576"/>
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti_cell" output="screen"> <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti_cell_1" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/> <param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node> </node>
......
launch/dummy-cell_ceti-table-2.launch 0 → 100644
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− 0
View file @ d62a0188
<launch>
<arg name="connection_address" default="tcp://*:6576"/>
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti_cell_2" 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 → launch/main_controller_ceti-table_preview.launch
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View file @ d62a0188
<launch> <launch>
<!-- connection address for NNG scene-based selection --> <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
<arg name="connection_address" default="tcp://*:6576"/> <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
<arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://127.0.0.1:1883"/>
<!-- remove cell st cell if it is not available -->
<arg name="client_controllers" default="['ceti_cell', 'st_cell', 'ads_cell']"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13"/>
<node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen"> <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/> <param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="client_controllers" type="yaml" value="$(arg client_controllers)"/> <param name="client_controllers" type="yaml" value="$(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="true"/>
</include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen">
<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node> </node>
......
launch/main_controller_virtual-table.launch → launch/main_controller_virtual_preview.launch
+ 3
− 4
View file @ d62a0188
<launch> <launch>
<arg name="connection_address" default="tcp://*:6576"/> <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883"/> <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
<arg name="client_controllers" default="['ceti_cell']"/> <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
<node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen"> <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/> <param name="connection_address" type="string" value="$(arg connection_address)"/>
......
launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch 0 → 100644
+ 12
− 0
View file @ d62a0188
<launch>
<arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
<arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
<arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
<include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
<include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-1.launch" pass_all_args="true"/>
</launch>
launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch 0 → 100644
+ 12
− 0
View file @ d62a0188
<launch>
<arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
<arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
<arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
<include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
<include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-2.launch" pass_all_args="true"/>
</launch>
launch/robot-cell_ceti-table.launch → launch/robot-cell_ceti-table-1.launch
+ 3
− 3
View file @ d62a0188
<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://192.168.0.122:1883" 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"/> <arg name="robot_ip" default="172.31.1.13" 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)"/>
<arg name="load_gripper" value="true"/> <arg name="load_gripper" value="true"/>
</include> </include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen"> <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node> </node>
......
launch/main_controller_ceti-table_preview_ceti-table_real_robot.launch → launch/robot-cell_ceti-table-2.launch
+ 19
− 0
View file @ d62a0188
<launch> <launch>
<!-- connection address for NNG scene-based selection -->
<arg name="connection_address" default="tcp://*:6576"/>
<!-- MQTT server for communication with client cells --> <!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://127.0.0.1:1883"/> <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
<!-- remove cell st cell if it is not available -->
<arg name="client_controllers" default="['ceti_cell', 'st_cell', 'ads_cell']"/>
<!-- robot IP used by the robot controller --> <!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13"/> <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
<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="$(find ccf)/launch/robot_setup.launch"> <include file="$(find ccf)/launch/robot_setup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/> <arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="true"/> <arg name="load_gripper" value="true"/>
</include> </include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen"> <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen">
<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/>
</node> </node>
</launch> </launch>
launch/simulated-cell_ceti-table.launch → launch/simulated-cell_ceti-table-1.launch
+ 1
− 1
View file @ d62a0188
...@@ -4,7 +4,7 @@ ...@@ -4,7 +4,7 @@
<include file="$(find ccf)/launch/simulation_setup.launch"/> <include file="$(find ccf)/launch/simulation_setup.launch"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen"> <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/> <param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node> </node>
......
launch/simulated-cell_ceti-table-2.launch 0 → 100644
+ 12
− 0
View file @ d62a0188
<launch>
<arg name="connection_address" default="tcp://*:6576"/>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen">
<param name="connection_address" type="string" value="$(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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