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  • noetic/demo/ga-2023-1-motion-grammars
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  • CeTI / ROS / CeTI Cobotic Framework / CCF Immersive Sorting Demo
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  • noetic/demo/ga-2023-1-motion-grammars
  • demo/ga-2023-1
  • noetic/main
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− 101
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Files

include/action.h

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@@ -3,7 +3,7 @@ 




#include <string>

#include <string>





#include "connector.pb.h"

#include "Scene.pb.h"





class Action

class Action

{

{

include/cell.h

+1 −1
Original line number Original line Diff line number Diff line 
#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>

launch/cell-controllers/dummy-cell_ads-table.launch

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@@ -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>

launch/cell-controllers/dummy-cell_ceti-table-1.launch

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@@ -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>

launch/cell-controllers/dummy-cell_ceti-table-2.launch

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@@ -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>

launch/cell-controllers/dummy-cell_st-table.launch

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@@ -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/cell-controllers/gazebo-cell_ads-table.launch

deleted100644 → 0
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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/cell-controllers/gazebo-cell_ceti-table-1-placeworld.launch

deleted100644 → 0
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Original line number Original line Diff line number Diff line 
<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/cell-controllers/gazebo-cell_ceti-table-1.launch

deleted100644 → 0
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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="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/cell-controllers/gazebo-cell_ceti-table-2-placeworld.launch

deleted100644 → 0
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Original line number Original line Diff line number Diff line 
<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/cell-controllers/gazebo-cell_ceti-table-2.launch

deleted100644 → 0
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Original line number Original line Diff line number Diff line 
<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/cell-controllers/gazebo-cell_st-table.launch

deleted100644 → 0
+0 −12
Original line number Original line Diff line number Diff line 
<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>

launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-coloured.launch

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@@ -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"/>

launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-grey.launch

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@@ -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"/>

launch/cell-controllers/noop-sim-cell_ceti-table-1-fullworld-grey.launch

+1 −1
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@@ -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"/>

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

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@@ -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>

launch/cell-controllers/noop-sim-cell_ceti-table-2-placeworld.launch

+1 −1
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@@ -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"/>

launch/cell-controllers/robot-cell_ads-table.launch

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@@ -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>

launch/cell-controllers/robot-cell_ceti-table-1.launch

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@@ -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>

launch/cell-controllers/robot-cell_ceti-table-2.launch

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@@ -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>

launch/cell-controllers/robot-cell_st-table.launch

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@@ -12,6 +12,7 @@ 
    </include>

    </include>





    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st_cell" output="screen">

    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st_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_st-table.json"/>

        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>

    </node>

    </node>

src/dummy_pickplace_provider.cpp

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@@ -11,7 +11,7 @@ 




#include "ccf/util/NodeUtil.h"

#include "ccf/util/NodeUtil.h"





#include "connector.pb.h"

#include "Scene.pb.h"





#include <google/protobuf/message.h>

#include <google/protobuf/message.h>

src/dummy_selection_provider.cpp

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@@ -17,7 +17,7 @@ 
#include <google/protobuf/text_format.h>

#include <google/protobuf/text_format.h>

#include <random>

#include <random>





#include "connector.pb.h"

#include "Scene.pb.h"





#include <google/protobuf/util/json_util.h>

#include <google/protobuf/util/json_util.h>

#include <google/protobuf/message.h>

#include <google/protobuf/message.h>

src/dummy_sorting_controller.cpp

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@@ -11,7 +11,7 @@ 
#include <ros/package.h>

#include <ros/package.h>

#include <std_msgs/Empty.h>

#include <std_msgs/Empty.h>





#include "connector.pb.h"

#include "Scene.pb.h"





#include "ccf/controller/DummyRobotArmController.h"

#include "ccf/controller/DummyRobotArmController.h"

#include "ccf/connection/NngConnection.h"

#include "ccf/connection/NngConnection.h"

src/main_controller.cpp

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@@ -5,7 +5,7 @@ 
#include <utility>

#include <utility>

#include <cell_controller.h>

#include <cell_controller.h>





#include "connector.pb.h"

#include "Scene.pb.h"





#include "ccf/controller/DummyRobotArmController.h"

#include "ccf/controller/DummyRobotArmController.h"

#include "ccf/connection/NngConnection.h"

#include "ccf/connection/NngConnection.h"

src/moveit_sorting_controller.cpp

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@@ -11,7 +11,7 @@ 
#include <ros/package.h>

#include <ros/package.h>

#include <std_msgs/Empty.h>

#include <std_msgs/Empty.h>





#include "connector.pb.h"

#include "Scene.pb.h"





#include "ccf/controller/MoveItRobotArmController.h"

#include "ccf/controller/MoveItRobotArmController.h"

#include "ccf/connection/NngConnection.h"

#include "ccf/connection/NngConnection.h"

src/object_locator.cpp

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@@ -16,7 +16,7 @@ 




#include "ccf/util/NodeUtil.h"

#include "ccf/util/NodeUtil.h"





#include "connector.pb.h"

#include "Scene.pb.h"

#include "google/protobuf/text_format.h"

#include "google/protobuf/text_format.h"





#include <google/protobuf/util/json_util.h>

#include <google/protobuf/util/json_util.h>

src/virtual_scene_provider.cpp

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@@ -5,7 +5,7 @@ 
#include <utility>

#include <utility>

#include <cell_controller.h>

#include <cell_controller.h>





#include "connector.pb.h"

#include "Scene.pb.h"





#include "ccf/controller/DummyRobotArmController.h"

#include "ccf/controller/DummyRobotArmController.h"

#include "ccf/connection/NngConnection.h"

#include "ccf/connection/NngConnection.h"