From e84972703476376550f0c484c0a306ec25df620d Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Thu, 14 Jul 2022 17:42:15 +0200
Subject: [PATCH] use delta-updates
---
launch/noop-sim-cell_ceti-table-1-placeworld.launch | 2 +-
launch/noop-sim-cell_ceti-table-2-placeworld.launch | 2 +-
src/moveit_sorting_controller.cpp | 2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/launch/noop-sim-cell_ceti-table-1-placeworld.launch b/launch/noop-sim-cell_ceti-table-1-placeworld.launch
index 8aa43a2..093c61d 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 9a098e6..84fba72 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 8add2ac..3b43d7e 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);
--
GitLab