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  • ccnc-demo
  • demo/ga-2023-1
  • feature/table-detector
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  • noetic/demo/ga-2023-1-motion-grammars
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  • ceti/ros/ccf/ccf_immersive_sorting
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  • ccnc-demo
  • demo/ga-2023-1
  • feature/table-detector
  • ga-demo
  • noetic/demo/ga-2023-1-motion-grammars
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  • noetic/feature/robotics-festival
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with 14 additions and 94 deletions
...@@ -3,7 +3,7 @@ ...@@ -3,7 +3,7 @@
#include <string> #include <string>
#include "connector.pb.h" #include "Scene.pb.h"
class Action class Action
{ {
......
#ifndef CCF_IMMERSIVE_SORTING_CELL_H_ #ifndef CCF_IMMERSIVE_SORTING_CELL_H_
#define CCF_IMMERSIVE_SORTING_CELL_H_ #define CCF_IMMERSIVE_SORTING_CELL_H_
#include <connector.pb.h> #include <Scene.pb.h>
#include <optional> #include <optional>
#include <string> #include <string>
......
...@@ -3,6 +3,7 @@ ...@@ -3,6 +3,7 @@
<arg name="connection_address" default="tcp://*:6576"/> <arg name="connection_address" default="tcp://*:6576"/>
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ads_cell" output="screen"> <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ads_cell" output="screen">
<param name="arm" type="string" value="arm"/>
<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="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
</node> </node>
......
...@@ -3,6 +3,7 @@ ...@@ -3,6 +3,7 @@
<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_1" output="screen"> <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti_cell_1" output="screen">
<param name="arm" type="string" value="arm"/>
<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/>
</node> </node>
......
...@@ -3,6 +3,7 @@ ...@@ -3,6 +3,7 @@
<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_2" output="screen"> <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti_cell_2" output="screen">
<param name="arm" type="string" value="arm"/>
<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/>
</node> </node>
......
...@@ -3,6 +3,7 @@ ...@@ -3,6 +3,7 @@
<arg name="connection_address" default="tcp://*:6576"/> <arg name="connection_address" default="tcp://*:6576"/>
<node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="st_cell" output="screen"> <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="st_cell" output="screen">
<param name="arm" type="string" value="arm"/>
<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="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
</node> </node>
......
<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>
...@@ -4,7 +4,7 @@ ...@@ -4,7 +4,7 @@
<arg name="mqtt_server" default="tcp://localhost:1883" <arg name="mqtt_server" default="tcp://localhost:1883"
doc="address of the mqtt server for the connection to the controller"/> doc="address of the mqtt server for the connection to the controller"/>
<include file="$(find ccf)/launch/noop-sim_setup.launch"/> <include file="$(find ccf)/launch/simulation_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/> <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/>
......
...@@ -4,7 +4,7 @@ ...@@ -4,7 +4,7 @@
<arg name="mqtt_server" default="tcp://localhost:1883" <arg name="mqtt_server" default="tcp://localhost:1883"
doc="address of the mqtt server for the connection to the controller"/> doc="address of the mqtt server for the connection to the controller"/>
<include file="$(find ccf)/launch/noop-sim_setup.launch"/> <include file="$(find ccf)/launch/simulation_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/> <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/>
......
...@@ -4,7 +4,7 @@ ...@@ -4,7 +4,7 @@
<arg name="mqtt_server" default="tcp://localhost:1883" <arg name="mqtt_server" default="tcp://localhost:1883"
doc="address of the mqtt server for the connection to the controller"/> doc="address of the mqtt server for the connection to the controller"/>
<include file="$(find ccf)/launch/noop-sim_setup.launch"/> <include file="$(find ccf)/launch/simulation_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/> <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/>
......
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
<!-- Use rviz --> <!-- Use rviz -->
<arg name="use_rviz" default="true" doc="use rviz"/> <arg name="use_rviz" default="true" doc="use rviz"/>
<include file="$(find ccf)/launch/noop-sim_setup.launch"> <include file="$(find ccf)/launch/simulation_setup.launch">
<arg name="use_rviz" value="$(arg use_rviz)"/> <arg name="use_rviz" value="$(arg use_rviz)"/>
</include> </include>
......
...@@ -4,7 +4,7 @@ ...@@ -4,7 +4,7 @@
<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"/> doc="address of the mqtt server for the connection to the controller"/>
<include file="$(find ccf)/launch/noop-sim_setup.launch"/> <include file="$(find ccf)/launch/simulation_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_placeworld/command"/> <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_placeworld/command"/>
......
...@@ -12,6 +12,7 @@ ...@@ -12,6 +12,7 @@
</include> </include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads_cell" output="screen"> <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads_cell" output="screen">
<param name="arm" type="string" value="arm"/>
<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="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
</node> </node>
......
...@@ -13,6 +13,7 @@ ...@@ -13,6 +13,7 @@
</include> </include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen"> <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<param name="arm" type="string" value="arm"/>
<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/>
</node> </node>
......
...@@ -13,6 +13,7 @@ ...@@ -13,6 +13,7 @@
</include> </include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen"> <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen">
<param name="arm" type="string" value="arm"/>
<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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/> <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/>
</node> </node>
......