diff --git a/launch/noop-sim-cell_ceti-table-1-placeworld.launch b/launch/noop-sim-cell_ceti-table-1-placeworld.launch index 8aa43a257c97f39d02f1a99649dc79507cee5bec..093c61deabdc99f029fdab2209a07cd4610c9276 100644 --- a/launch/noop-sim-cell_ceti-table-1-placeworld.launch +++ b/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> diff --git a/launch/noop-sim-cell_ceti-table-2-placeworld.launch b/launch/noop-sim-cell_ceti-table-2-placeworld.launch index 9a098e6d7c6e8dd4982637fefc622d805e898c04..84fba72fcec9d6ff1e2f31e5954b76cd5ed43ff5 100644 --- a/launch/noop-sim-cell_ceti-table-2-placeworld.launch +++ b/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> diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp index 8add2aca87583a72158b4a852babbc02a17b0d56..3b43d7eafcca869f2b524837abe451aae9b6693e 100644 --- a/src/moveit_sorting_controller.cpp +++ b/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);