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Commit dae6e912 authored by Johannes Mey's avatar Johannes Mey
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remove gazebo launch files

parent 52b05de7
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<launch>
<arg name="connection_address" default="tcp://*:6576"/>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads_cell" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
</node>
</launch>
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://localhost:1883"
doc="address of the mqtt server for the connection to the controller"/>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_placeworld" output="screen">
<param name="arm" type="string" value="arm1"/>
<param name="other_cell" type="string" value="/ceti_cell_2_placeworld/scene/update"/>
<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-placeworld.json"/>
</node>
</launch>
<launch>
<arg name="connection_address" default="tcp://*:6576"/>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<param name="connection_address" type="string" value="$(arg connection_address)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/>
</node>
</launch>
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://192.168.0.122:1883"
doc="address of the mqtt server for the connection to the controller"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_placeworld/command"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2_placeworld" output="screen">
<param name="arm" type="string" value="arm2"/>
<param name="other_cell" type="string" value="/ceti_cell_placeworld/scene/update"/>
<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-placeworld.json"/>
</node>
</launch>
<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/>
</node>
</launch>
<launch>
<arg name="connection_address" default="tcp://*:6576"/>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st_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_st-table.json"/>
</node>
</launch>
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