many fixes, removed launch files

README.md

 # CCF: The CeTI Cobotic Framework
 
-**TODO** the documentation does not represent the current state of the framework and needs to be updated!
-
-This ROS package provides a connection between a ROS-based model and the [CGV framework](https://github.com/sgumhold/cgv).
-The purpose of this connection is to use the CGV framework to select and move elements from a scene provided by ROS
-using an AR controller.
-
-For the communication between the two components, messages encoded using
-[Protocol Buffers](https://developers.google.com/protocol-buffers) (v3) are exchanged using 
-[NNG](https://nng.nanomsg.org/).
-
-Since the package is under active development, it contains several demonstrators in varying development states.
-In particular, besides the main demonstrator it contains several tests of NNG communication patterns that can be used
-for internal and external testing. 
-
-## Generating the ROS-Documentation
-
-- Source the workspace
-  ```
-  $ source devel/setup.bash
-  ```
-- Generate the documentation
-  ```
-  $ rosdoc_lite `rospack find ccf`
-  ```
-- You can view the generated files in you browser by opening the generated `index.html`
-  ```
-  xdg-open `rospack find ccf`/doc/html/index.html
-  ```
-## Running the Tests
-
-1. Build the package (this is not done automatically by the following commands)
-  ```bash
-  catkin build
-  ```
-2. Build the tests
-   ```bash
-   catkin build --make-args tests
-   ```
-3. Run the tests
-   ```bash
-   rostest -t ccf test_NodeUtil.test
-   ```
-
-## CGV Dummy Controller Demonstrator
-
-This demonstrator contains two mock-up nodes that can serve as stand-ins for future functional implementations.
-
-- `dummy_cgv` is a mock-up of the cgv framework. it connects to the ROS `ccf` and waits for it to send a scene.
-  Once a `Scene` is received, it waits two seconds and then sends a selection of a random `Box` from the scene (if there
-  is one). After another two seconds, the `bin` is selected.
-- `dummy_ccf` is a mock-up of the ros end of the connection, accepting connections from the CGV framework.
-  When receiving a message on topic `/ccf/send_scene`, it sends a scene to the framework. It furthermore is
-  able to receive object `Selection` messages (and currently simply prints a notification).
-
-### Running the Example
-- Checkout the project using git.
-  Since the CMake build uses git submodules, do not remove the git information!
-  It is not required to checkout the submodule manually, this is done using CMake. 
-- Build the project.
-- Start ROS
-  ```
-  $ roscore
-  ```
-- Start the `dummy_cgv_controller` and `dummy_cgv` nodes in two terminals.
-  Both are in the `ccf` namespace.
-  ```
-  $ rosrun ccf dummy_cgv_controller
-  ```
-  Note that the dummy_cgv tries to connect to the dummy_cgv_controller, so as long as the latter is not running,
-  warnings are logged.
-  ```
-  $ rosrun ccf dummy_cgv
-  ```
-- Trigger a transmission by publishing a string message to `/ccf/send_scene`.
-  ```
-  $ rostopic pub -1 /ccf/send_scene std_msgs/String "Some Message"
-  ```
-  The `dummy_cgv` node command will show the received scene. With a delay of two seconds, selections of a box and a bin
-  will be logged by the `dummy_cgv_controller`
-
-### Running the demo
-
-#### Configuration
-
-- configure the scene (*not* required when using the dummy controller):
-  ```bash
-  rostopic pub -1 /scene_config std_msgs/String "\"$(roscat ccf config_scene.yaml)\""
-  ```
-
-#### Execution
-
-- pick an object by id: `rostopic pub -1 /robot/pick std_msgs/String "objectRed1"`
-- place a picked object into a bin by id: `rostopic pub -1 /robot/place std_msgs/String "binRed"`
-
-### Connect to the CGV framework
-
-- **CASE 1** The robot controller is *not* accepting connections, but the AR server is.
-  - ensure a SSH server is running on the AR server
-  -  On the robot controller, connect to it
-     ```
-     ssh stadmin@141.76.65.71 -R 6576:localhost:6576
-     ```
-
-### Using the Example with Docker
-
-The following instructions can be used to run either the cgv dummy or the ros-connector dummy from within a docker container.
-All commands involving docker must be run as root or as a user with docker privileges.
-
-- Create a container called `ccf`
-  ```
-  $ docker build --tag ccf .
-  ```
-- Run the container, exposing the port the receiver listens on, `6576`.
-  ```
-  $ docker run -it -p 6576:6576 ros4ceti/cgv:latest roslaunch ccf dummy_cgv_controller.launch
-  ```
-  Run the CGV dummy:
-  ```
-  $ docker run -it --network host ros4ceti/cgv:latest roslaunch ccf dummy_cgv.launch
-  ```
-- The dummy_cgv_controller now is available and awaits NNG messages at `localhost:6576`.
+**TODO** An updated documentation will follow soon.
\ No newline at end of file

config/config.yaml

-connector_node_ros_cgv:
+connector_node_ros_ccf:
   topics:
     selection: "selection"
 max_grasp_approach_velocity: 0.2

config/config_scene.yaml

-{ 'objects': [
-  { 'id': 'tablePillar1','pos': { 'x': 0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
-  { 'id': 'tablePillar2','pos': { 'x': -0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
-  { 'id': 'tablePillar3','pos': { 'x': -0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
-  { 'id': 'tablePillar4','pos': { 'x': 0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
-  { 'id': 'table','pos': { 'z': 0.7 },'size': { 'length': 1.6,'width': 1.6,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
-  { 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.34,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
-  { 'id': 'binRed','type': 'BIN','pos': { 'x': 0.06,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
-  { 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.46,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
-  { 'id': 'objectRed1','type': 'BOX','pos': { 'x': 0.5,'y': -0.1,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
-  { 'id': 'objectRed2','type': 'BOX','pos': { 'x': 0.25,'y': -0.2,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
-  { 'id': 'objectRed3','type': 'BOX','pos': { 'x': -0.4,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
-  { 'id': 'objectGreen1','type': 'BOX','pos': { 'x': 0.45,'y': -0.3,'z': 0.8105 },'size': {'length':0.031,'width':0.062,'height':0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
-  { 'id': 'objectGreen2','type': 'BOX','pos': { 'x': -0.45,'y': -0.2,'z': 0.8105 },'size': {'length':0.031,'width':0.031,'height':0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } },
-  { 'id': 'objectGreen3','type': 'BOX','pos': { 'x': 0.1,'y': -0.3,'z': 0.819 },'size': {'length':0.031,'width':0.062,'height':0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
-  { 'id': 'objectBlue1','type': 'BOX','pos': { 'x': 0.25,'y': -0.4,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
-  { 'id': 'objectBlue2','type': 'BOX','pos': { 'x': -0.3,'y': -0.3,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
-  { 'id': 'objectBlue3','type': 'BOX','pos': { 'x': 0.4,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
-  { 'id': 'arm','type': 'ARM','pos': { 'z': 0.75 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
-] }

launch/cell-sync/dummy_rag_connector_b_robot_1.launch

-<launch>
-
-    <node pkg="ccf" type="dummy_rag_connector_b" name="dummy_rag_connector_b_1" output="screen">
-        <rosparam param="/ccf/place_b_prefix">place-b-1</rosparam>
-    </node>
-
-</launch>

launch/cell-sync/dummy_rag_connector_b_robot_2.launch

-<launch>
-
-    <node pkg="ccf" type="dummy_rag_connector_b" name="dummy_rag_connector_b_2" output="screen">
-        <rosparam param="/ccf/place_b_prefix">place-b-2</rosparam>
-    </node>
-
-</launch>

launch/cleaning/cleaning_dummy_cgv.launch

-<launch>
-    <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
-</launch>

launch/cleaning/cleaning_dummy_controller.launch

-<launch>
-
-    <arg name="connection_address" default="tcp://*:6576" />
-    <arg name="client_controllers" default="[]" />
-
-    <node pkg="ccf" type="dummy_cgv_controller" name="my_dummy_cgv_controller" output="screen">
-        <param name="connection_address" type="string" value="$(arg connection_address)" />
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
-    </node>
-
-</launch>

launch/cleaning/cleaning_dummy_controller_and_dummy_cgv.launch

-<launch>
-    <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
-    <include file="$(find ccf)/launch/cleaning/cleaning_dummy_controller.launch" />
-</launch>

launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch

-<launch>
-    <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
-    <node pkg="ccf" type="dummy_cgv_controller" name="main_controller" output="screen">
-        <param name="connection_address" type="string" value="tcp://*:6576" />
-        <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
-    </node>
-    <node pkg="ccf" type="dummy_cgv_controller" name="client_controller" output="screen">
-        <param name="connection_address" type="string" value="tcp://*:6586" />
-        <param name="client_controllers" type="yaml" value="[]" />
-    </node>
-</launch>

launch/cleaning/cleaning_dummy_main_simulated_client.launch

-<launch>
-    <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
-
-    <!--<node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />-->
-    <node pkg="ccf" type="moveit_cgv_controller" name="main_controller" output="screen">
-        <param name="connection_address" type="string" value="tcp://*:6576" />
-        <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
-    </node>
-    <node pkg="ccf" type="dummy_cgv_controller" name="client_controller" output="screen">
-        <param name="connection_address" type="string" value="tcp://*:6586" />
-        <param name="client_controllers" type="yaml" value="[]" />
-    </node>
-</launch>

launch/cleaning/cleaning_robot_controller.launch

-<launch>
-
-    <arg name="robot_ip" default="172.31.1.13" />
-    <arg name="load_gripper" default="true" />
-    <arg name="connection_address" default="tcp://*:6576" />
-    <arg name="client_controllers" default="[]" />
-
-    <include file="$(find ccf)/launch/cleaning/_robot_setup.launch" >
-        <arg name="robot_ip" value="$(arg robot_ip)" />
-        <arg name="load_gripper" value="$(arg load_gripper)"/>
-    </include>
-
-    <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" >
-        <param name="connection_address" type="string" value="$(arg connection_address)" />
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
-    </node>
-
-</launch>
\ No newline at end of file

launch/cleaning/cleaning_robot_controller_and_dummy_cgv.launch

-<launch>
-    <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
-    <include file="$(find ccf)/launch/cleaning/cleaning_robot_controller.launch" />
-</launch>

launch/cleaning/cleaning_simulated_main_dummy_client.launch

-<launch>
-    <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
-
-    <!--<node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />-->
-    <node pkg="ccf" type="dummy_cgv_controller" name="main_controller" output="screen">
-        <param name="connection_address" type="string" value="tcp://*:6576" />
-        <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
-    </node>
-    <node pkg="ccf" type="moveit_cgv_controller" name="client_controller" output="screen">
-        <param name="connection_address" type="string" value="tcp://*:6586" />
-        <param name="client_controllers" type="yaml" value="[]" />
-    </node>
-</launch>

launch/cleaning/cleaning_simulation.launch

-<launch>
-
-    <arg name="connection_address" default="tcp://*:6576" />
-    <arg name="client_controllers" default="[]" />
-
-    <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
-
-    <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" >
-        <param name="connection_address" type="string" value="$(arg connection_address)" />
-        <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
-    </node>
-
-</launch>
\ No newline at end of file

launch/cleaning/cleaning_simulation_and_dummy_cgv.launch

-<launch>
-    <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
-    <include file="$(find ccf)/launch/cleaning/cleaning_simulation.launch" />
-</launch>

launch/cleaning/_robot_setup.launch → launch/robot_setup.launch

@@ -34,6 +34,4 @@
 
     <node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" />
 
-    <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-
 </launch>
\ No newline at end of file

launch/cleaning/_simulation_setup.launch → launch/simulation_setup.launch

@@ -13,6 +13,4 @@
 
     <node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" />
 
-    <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-
 </launch>
\ No newline at end of file

proto/connector.proto

@@ -48,12 +48,12 @@ message Object {
     Color color = 6;
 }
 
-// the scene is stored within the ROS side and sent to the CGV framework
+// the scene is stored within the ROS side and sent to clients
 message Scene {
     repeated Object objects = 1;
 }
 
-// the selection is done by the CGV framework and sent to ROS
+// the selection is done by a client and sent to ROS
 message Selection {
     string id = 1; // the id corresponds to an id of an Object in a Scene
 }

scripts/debug_init_full_scene

-#!/bin/bash
-
-rostopic pub -1 /scene_config/collision_table std_msgs/String -f `rospack find ccf`/config_table.yaml
-sleep 3
-rostopic pub -1 /scene_config/collision_bin std_msgs/String -f `rospack find ccf`/config_bins.yaml
-sleep 3
-rostopic pub -1 /scene_config/collision_objects std_msgs/String -f `rospack find ccf`/config_objects_full.yaml

scripts/debug_init_scene

-#!/bin/bash
-
-rostopic pub -1 /scene_config/collision_table std_msgs/String -f `rospack find ccf`/config_table.yaml
-sleep 3
-rostopic pub -1 /scene_config/collision_bin std_msgs/String -f `rospack find ccf`/config_bin.yaml
-sleep 3
-rostopic pub -1 /scene_config/collision_objects std_msgs/String -f `rospack find ccf`/config_objects.yaml