use delta-updates

launch/noop-sim-cell_ceti-table-1-placeworld.launch

@@ -9,7 +9,7 @@
 
     <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="other_cell" type="string" value="/ceti_cell_2_placeworld/scene/delta-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/noop-sim-cell_ceti-table-2-placeworld.launch

@@ -9,7 +9,7 @@
     
     <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="other_cell" type="string" value="/ceti_cell_placeworld/scene/delta-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>

src/moveit_sorting_controller.cpp

@@ -43,7 +43,7 @@ int main(int argc, char** argv)
   mqtt_connection->listen(getParameter<std::string>(n, "topics/selection", "selection"));
   auto commandTopic = getParameter<std::string>(n, "topics/command", "/ceti_cell_placeworld/command");
   mqtt_connection->listen(commandTopic);
-  auto other_cell_topic = getPrivateParameter<std::string>("other_cell", "/ceti_cell_2_placeworld/scene/update");
+  auto other_cell_topic = getPrivateParameter<std::string>("other_cell", "/ceti_cell_2_placeworld/scene/delta-update");
   mqtt_connection->listen(other_cell_topic);
   auto scene_observer_topic = getPrivateParameter<std::string>("scene_observer", "object_locator/scene/update");
   mqtt_connection->listen(scene_observer_topic);