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

@@ -3,6 +3,7 @@
     <arg name="connection_address" default="tcp://*:6576"/>
 
     <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="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
     </node>

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

@@ -3,6 +3,7 @@
     <arg name="connection_address" default="tcp://*:6576"/>
 
     <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="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/>
     </node>

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

@@ -3,6 +3,7 @@
     <arg name="connection_address" default="tcp://*:6576"/>
 
     <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="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/>
     </node>

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

@@ -3,6 +3,7 @@
     <arg name="connection_address" default="tcp://*:6576"/>
 
     <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="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
     </node>

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

@@ -12,6 +12,7 @@
     </include>
 
     <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="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
     </node>

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

@@ -13,6 +13,7 @@
     </include>
 
     <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="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/>
     </node>

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

@@ -13,6 +13,7 @@
     </include>
 
     <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="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/>
     </node>

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

@@ -12,6 +12,7 @@
     </include>
 
     <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="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
     </node>